version: 66.06
glider: 1
mission: 14
dive: 6
start: 9 22 109 17 32 59
data:
$ID,1
$MISSION,14
$DIVE,6
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,330
$T_MISSION,396
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,2.7999999e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,375
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-218773.52
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,450
$PITCH_MAX,3300
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,300
$ROLL_MAX,3750
$ROLL_DEG,40
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,74
$R_STBD_OVSHOOT,1
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3500
$C_VBD,2500
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,250
$VBD_MAXERRORS,5
$CF8_MAXERRORS,20
$AH0_24V,300
$AH0_10V,200
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,57.361794
$FG_AHR_24V,4.6383591
$PHONE_SUPPLY,2
$PRESSURE_YINT,-0.036699742
$PRESSURE_SLOPE,9.9999997e-05
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0072730002
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,5
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,1
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,32
$GPS_DEVICE,48
$RAFOS_DEVICE,48
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043498399
$SEABIRD_T_H,0.0006493734
$SEABIRD_T_I,2.8112627e-05
$SEABIRD_T_J,3.1957888e-06
$SEABIRD_C_G,-10.106751
$SEABIRD_C_H,1.1366181
$SEABIRD_C_I,0.00038917549
$SEABIRD_C_J,7.9540005e-05
$GPS1,173356,6642.807,-6023.254,34,1.1,34,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,173956,6642.758,-6023.185,37,1.1,37,18.0
$SPEED_LIMITS,0.173,0.263
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,245.7,5042144,-18.0,-10.000
$D_GRID,100
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.31,-146.6,0.0,0.0,0,93,0.00,0.00,-63.60,0.000,2,0.007,0.000,362,2238,2532,0,0,0,0,0,0
$GC,97,-1.31,-146.6,3.1,-3.0,13,134,10.12,2.53,-19.15,0.000,4,0.000,0.000,2465,3787,3103,5,0,12,0,0,0
$GC,387,-1.19,-146.6,59.7,-16.2,46,403,0.32,3.22,0.00,0.007,6,0.007,0.000,2424,1962,3071,1,0,18,0,0,0
$STATE,693,end dive,TARGET_DEPTH_EXCEEDED
$STATE,693,begin apogee
$GC,700,-0.31,0.0,101.5,13.6,75,830,1.17,0.00,117.50,0.000,6,0.000,0.007,2670,2266,2522,2,0,0,0,0,0
$STATE,831,end apogee,CONTROL_FINISHED_OK
$STATE,831,begin climb
$GC,834,1.31,146.6,120.3,0.0,88,969,1.58,3.12,120.40,0.000,4,0.000,0.000,3050,504,1926,1,0,15,0,0,0
$GC,1221,3.57,639.7,173.2,-12.5,123,1534,1.42,4.00,281.17,0.000,6,0.000,0.000,3332,2137,605,1,0,22,0,2,0
$GC,1848,4.18,1138.8,252.6,-12.7,184,1864,0.00,3.03,0.12,0.007,4,0.007,0.000,3329,381,608,0,0,14,0,0,0
$GC,2116,4.81,1649.4,286.8,-13.3,207,2126,0.00,3.70,0.70,0.000,6,0.007,0.000,3332,2354,605,0,0,22,0,0,0
$GC,2451,5.40,2128.5,327.3,-11.8,239,2466,0.00,4.03,0.12,0.000,4,0.007,0.000,3331,495,607,0,0,22,0,0,0
$GC,2719,5.99,2607.3,358.9,-11.8,262,2729,0.00,4.03,0.32,0.000,6,0.007,0.000,3332,2118,605,0,0,25,0,0,0
$GC,3054,6.56,3072.2,397.3,-11.2,294,3069,0.00,4.10,0.12,0.007,4,0.000,0.000,3331,498,607,0,0,21,0,0,0
$GC,3092,7.12,3525.8,401.6,-10.7,297,3108,0.00,2.67,1.55,0.000,6,0.000,0.000,3338,2235,606,0,0,10,0,0,0
$GC,3422,7.71,4003.3,439.9,-11.7,328,3437,0.00,3.20,0.12,0.007,4,0.000,0.000,3334,595,605,0,0,16,0,0,0
$GC,3690,8.33,4513.3,472.3,-13.2,351,3700,0.00,3.05,1.35,0.000,6,0.007,0.000,3331,2226,603,0,0,16,0,0,0
$GC,4025,8.94,5006.0,515.3,-12.4,383,4041,0.00,3.08,0.12,0.000,4,0.007,0.000,3330,517,605,0,0,13,0,0,0
$GC,4292,8.65,5182.0,530.7,2.0,406,4304,0.00,2.92,1.77,0.000,6,0.007,0.000,3334,2283,603,0,0,15,0,0,0
$GC,4628,8.35,5182.0,494.9,12.2,438,4645,0.00,3.80,0.12,0.000,4,0.007,0.000,3333,464,604,0,0,19,0,0,0
$GC,4897,8.30,5207.3,468.2,8.8,461,4908,0.00,3.65,0.80,0.000,6,0.007,0.000,3331,2185,604,0,0,21,0,0,0
$GC,5233,8.39,5241.6,438.7,8.4,493,5248,0.00,2.85,0.12,0.007,4,0.007,0.000,3334,498,607,0,0,15,0,0,0
$GC,5500,8.47,5257.5,413.3,9.3,516,5510,0.00,2.65,2.08,0.000,6,0.007,0.000,3330,2223,605,0,0,13,0,0,0
$GC,5835,8.53,5259.2,380.8,9.9,548,5851,0.00,3.12,0.12,0.000,4,0.007,0.000,3330,490,606,0,0,15,0,0,0
$GC,5919,8.60,5262.7,372.7,9.8,555,5935,0.00,3.72,0.20,0.007,6,0.007,0.000,3329,2434,607,0,0,21,0,0,0
$GC,6249,8.65,5262.9,339.1,10.0,586,6267,0.00,3.78,0.12,0.007,4,0.007,0.000,3333,354,604,0,0,18,0,0,0
$GC,6359,8.72,5272.9,328.4,9.5,595,6375,0.00,3.92,0.15,0.007,6,0.007,0.000,3333,2191,605,0,0,20,0,0,0
$GC,6690,8.63,5272.9,293.6,12.5,626,6705,0.00,2.90,0.12,0.000,4,0.007,0.000,3333,625,607,0,0,16,0,0,0
$GC,6901,8.63,5272.9,267.6,12.1,644,6913,0.00,2.72,2.72,0.000,6,0.000,0.000,3335,2184,600,0,0,13,0,0,0
$GC,7238,8.70,5273.1,232.7,10.0,676,7252,0.00,3.08,0.12,0.007,4,0.007,0.000,3329,676,609,0,0,14,0,0,0
$GC,7504,8.62,5273.1,201.1,12.2,699,7515,0.00,2.65,2.12,0.000,6,0.007,0.000,3333,2214,603,0,0,13,0,0,0
$GC,7839,8.63,5281.4,164.1,9.6,731,7853,0.00,3.03,0.12,0.007,4,0.007,0.000,3330,450,602,0,0,14,0,0,0
$GC,8105,8.64,5286.7,138.2,9.8,754,8116,0.00,2.78,2.30,0.000,6,0.007,0.000,3330,2247,593,0,0,13,0,0,0
$GC,8440,8.71,5293.1,106.8,9.7,786,8455,0.00,3.03,0.12,0.000,4,0.007,0.000,3329,541,598,0,0,14,0,0,0
$GC,8707,8.72,5296.5,81.4,9.8,809,8717,0.00,3.28,1.45,0.000,6,0.007,0.000,3333,2180,600,0,0,18,0,0,0
$GC,9041,8.72,5296.5,47.7,10.9,841,9048,0.00,2.90,0.15,0.000,4,0.007,0.000,3331,365,600,0,0,14,0,0,0
$GC,9301,9.04,5413.4,24.1,4.7,863,9311,0.00,4.03,0.45,0.000,6,0.007,0.000,3329,2450,602,0,0,22,0,0,0
$GC,9509,9.23,5465.7,10.4,7.6,894,9525,0.00,3.80,0.17,0.000,4,0.007,0.000,3331,433,603,0,0,20,0,0,0
$STATE,9573,end climb,SURFACE_DEPTH_REACHED
$STATE,9573,begin surface coast
$FINISH,1.2,0.995583
$STATE,9601,end surface coast,CONTROL_FINISHED_OK
$STATE,9601,begin surface
$SM_CCo,9692,0.00,0.000,0,0,599,465.58
$SM_GC,0.04,14.50,0.00,0.00,0.000,0.007,0.007,389,2336,599,-10.43,8.85,465.58
$SUPER,3,206,254,0,0,0
$RAFOS_CLK,0
$RAFOS,1,1253650442,20.250000,20.233889,80,0,0,0,0,0,743,0,0,0,0,0
$RAFOS,0,1253649843,20.083334,20.067499,80,0,0,0,0,0,578,0,0,0,0,0
$RAFOS_FIX,6610.147461,-6221.493652,220909,161601,5,80,18.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078218584
$INTERNAL_PRESSURE,16.2106
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,179.357
$10V_AH,10.7,30.841
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,57.455
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,29.125,112.600,539.000,0.000,0.000,0.000,0.000,126.117,0.000,0.000,37.953,1483.208,6261.764,871.607,1022.731,410.627,0.000,1038.373,0.000,955.186,720.000,2.280,0.000
$DEVICE_MAMPS,119.000,60.000,1300.000,0.000,0.000,103.000,0.000,223.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,26.000,1.500,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,553.093,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330188
$DATA_FILE_SIZE,31563,909
$CAP_FILE_SIZE,124714,0
$CFSIZE,260165632,253485056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,27,577,2,0
$SOUNDSPEED,1518.5
$CURRENT,0.233,289.4,1
$GPS,220909,202357,6643.166,-6026.120,34,1.1,34,18.0