version: 66.06
glider: 1
mission: 14
dive: 56
start: 10 3 109 9 15 4
data:
$ID,1
$MISSION,14
$DIVE,56
$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,470
$T_MISSION,530
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-3
$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,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0035999999
$HD_B,0.014
$HD_C,6.1000001e-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,275
$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,-220113.36
$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,3
$R_STBD_OVSHOOT,7
$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,66.188324
$FG_AHR_24V,4.6384006
$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
$GPS1,091537,6702.373,-5656.321,10,1.1,10,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,092131,6702.386,-5656.344,28,1.1,28,18.0
$SPEED_LIMITS,0.122,0.200
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,15000.000
$KALMAN_CONTROL,-0.195,-0.045
$KALMAN_X,31985.0,1678.5,1336.4,29122.4,-1733.8
$KALMAN_Y,9750.0,335.0,512.8,7423.0,194.2
$MHEAD_RNG_PITCHd_Wd,238.9,170275,-14.2,-7.021
$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,-1.07,-146.6,0.0,0.0,0,92,0.00,0.00,-61.97,0.000,2,0.000,0.000,536,2208,2477,0,0,0,0,0,0
$GC,95,-1.07,-146.6,3.2,-2.3,13,143,10.00,2.65,-21.08,0.000,4,0.000,0.000,2579,3704,3110,14,0,14,0,0,0
$GC,279,-0.94,-146.6,35.2,-12.3,37,295,0.52,3.25,0.00,0.007,6,0.000,0.000,2457,1840,3109,1,0,14,0,0,0
$GC,483,-0.94,-146.6,56.5,-9.9,56,498,0.32,3.03,0.00,0.007,4,0.000,0.000,2495,3574,3108,1,0,16,0,0,0
$GC,750,-0.94,-146.6,83.8,-10.8,79,761,0.00,4.32,0.00,0.007,6,0.007,0.000,2498,1993,3106,0,0,23,0,0,0
$STATE,923,end dive,TARGET_DEPTH_EXCEEDED
$STATE,923,begin apogee
$GC,930,-0.31,0.0,101.0,10.2,96,1071,0.80,0.00,124.43,0.000,6,0.000,0.000,2673,2226,2504,2,0,0,0,1,0
$STATE,1071,end apogee,CONTROL_FINISHED_OK
$STATE,1072,begin climb
$GC,1074,1.07,146.6,115.8,0.0,110,1219,1.33,2.92,117.32,0.000,4,0.000,0.000,2976,425,1922,1,0,15,0,0,0
$GC,1224,3.06,694.5,132.3,-10.6,123,1518,1.58,3.58,267.02,0.000,6,0.000,0.000,3327,2030,602,1,0,16,0,2,0
$GC,1843,3.65,1171.2,185.5,-8.3,183,1850,0.00,2.58,0.12,0.007,4,0.007,0.000,3324,3550,601,0,0,13,0,0,0
$GC,2102,4.24,1650.5,208.3,-8.4,205,2112,0.00,2.90,1.73,0.000,6,0.007,0.000,3326,1926,594,0,0,13,0,0,0
$GC,2437,4.89,2183.6,236.6,-10.1,237,2444,0.00,2.55,0.12,0.007,4,0.007,0.000,3326,3683,600,0,0,14,0,0,0
$GC,2696,5.44,2625.7,261.1,-7.2,259,2706,0.00,3.90,0.43,0.000,6,0.007,0.000,3325,1738,604,0,0,20,0,0,0
$GC,3031,5.99,3076.9,285.7,-7.5,291,3047,0.00,3.40,0.12,0.000,4,0.007,0.000,3326,3427,602,0,0,17,0,0,0
$GC,3299,6.63,3594.0,307.6,-9.6,314,3310,0.00,3.00,1.62,0.000,6,0.007,0.000,3325,1911,599,0,0,14,0,0,0
$GC,3634,7.18,4045.0,338.6,-7.5,346,3650,0.00,2.92,0.12,0.007,4,0.007,0.000,3324,3591,602,0,0,17,0,0,0
$GC,3902,7.75,4502.4,359.6,-7.7,369,3912,0.00,2.67,1.90,0.000,6,0.007,0.000,3327,1935,600,0,0,9,0,0,0
$GC,4237,8.38,5015.3,386.6,-9.5,401,4253,0.00,3.17,0.12,0.000,4,0.007,0.000,3323,3649,598,0,0,17,0,0,0
$GC,4505,8.93,5462.4,411.2,-7.4,424,4516,0.00,3.05,1.55,0.000,6,0.007,0.000,3323,1864,602,0,0,13,0,0,0
$GC,4840,9.50,5930.3,433.8,-8.0,456,4857,0.00,3.28,0.20,0.007,4,0.000,0.000,3326,3585,593,0,0,14,0,0,0
$GC,5109,10.07,6392.2,456.8,-7.9,479,5119,0.00,3.00,1.67,0.000,6,0.007,0.000,3326,1844,603,0,0,12,0,0,0
$GC,5444,10.60,6826.0,481.0,-6.9,511,5460,0.00,2.88,0.12,0.007,4,0.000,0.000,3324,3568,601,0,0,12,0,0,0
$GC,5712,11.13,7253.7,499.6,-6.8,534,5724,0.00,3.50,0.80,0.000,6,0.000,0.000,3327,1863,601,0,0,19,0,0,0
$GC,6049,11.67,7690.1,522.0,-7.0,566,6065,0.00,4.32,0.12,0.007,4,0.007,0.000,3328,3451,602,0,0,25,0,0,0
$GC,6318,12.24,8157.9,542.6,-8.0,589,6328,0.00,2.70,1.88,0.000,6,0.007,0.000,3324,2013,603,0,0,15,0,0,0
$GC,6653,12.83,8635.3,569.3,-8.4,621,6669,0.00,3.90,0.22,0.000,4,0.007,0.000,3326,3702,599,0,0,23,0,0,0
$GC,6921,13.39,9094.4,591.4,-7.8,644,6933,0.00,4.43,0.00,0.007,6,0.007,0.000,3325,1905,602,0,0,25,0,0,0
$GC,7258,14.40,9306.6,605.8,0.2,676,7273,0.00,2.90,0.00,0.007,4,0.007,0.000,3327,451,601,0,0,16,0,0,0
$GC,7352,14.67,9525.3,605.8,-0.0,684,7368,0.00,3.60,0.00,0.007,6,0.007,0.000,3324,2291,602,0,0,21,0,0,0
$GC,7682,14.28,9525.3,579.1,13.1,715,7696,0.00,2.78,0.00,0.007,4,0.007,0.000,3325,3773,606,0,0,15,0,0,0
$GC,7949,14.38,9550.8,559.6,6.2,738,7959,0.00,3.67,0.00,0.007,6,0.007,0.000,3327,1886,604,0,0,21,0,0,0
$GC,8284,14.58,9588.1,537.9,5.8,770,8290,0.00,2.65,0.00,0.007,4,0.007,0.000,3325,3601,602,0,0,12,0,0,0
$GC,8542,14.74,9588.1,519.2,7.2,792,8551,0.00,3.42,0.00,0.007,6,0.000,0.000,3324,1846,602,0,0,16,0,0,0
$GC,8876,14.64,9588.1,494.7,10.2,824,8893,0.00,3.97,0.00,0.007,4,0.007,0.000,3325,3582,621,0,0,20,0,0,0
$GC,9145,14.59,9588.1,466.8,9.4,847,9155,0.00,3.97,0.00,0.007,6,0.007,0.000,3327,1716,601,0,0,20,0,0,0
$GC,9479,14.59,9588.1,439.2,8.1,879,9494,0.00,3.38,0.00,0.007,4,0.007,0.000,3323,3614,602,0,0,18,0,0,0
$GC,9745,14.59,9588.1,417.5,8.0,902,9756,0.00,3.83,0.00,0.007,6,0.000,0.000,3331,1723,605,0,0,23,0,0,0
$GC,10081,14.65,9588.1,391.6,7.6,934,10097,0.00,3.45,0.00,0.007,4,0.007,0.000,3325,3785,601,0,0,19,0,0,0
$GC,10349,14.72,9588.1,371.4,7.8,957,10355,0.00,3.12,0.00,0.000,6,0.007,0.000,3326,1874,601,0,0,16,0,0,0
$GC,10676,14.95,9619.7,348.8,6.0,988,10691,0.00,3.88,0.00,0.007,4,0.007,0.000,3325,3570,602,0,0,22,0,0,0
$GC,10943,14.83,9619.7,324.0,11.8,1011,10949,0.00,3.12,0.00,0.007,6,0.007,0.000,3324,1817,602,0,0,16,0,0,0
$GC,11269,14.98,9629.2,295.2,6.7,1042,11285,0.00,3.92,0.00,0.007,4,0.007,0.000,3325,3666,608,0,0,19,0,0,0
$GC,11537,15.23,9651.1,274.6,6.3,1065,11547,0.00,3.65,0.00,0.007,6,0.000,0.000,3325,1841,606,0,0,17,0,0,0
$GC,11873,15.23,9651.1,251.8,9.7,1097,11890,0.00,3.03,0.00,0.007,4,0.000,0.000,3326,3551,600,0,0,14,0,0,0
$GC,12048,15.23,9651.1,237.7,7.3,1112,12063,0.00,3.67,0.00,0.007,6,0.007,0.000,3328,1817,600,0,0,19,0,0,0
$GC,12378,15.28,9693.5,213.8,5.7,1143,12394,0.00,3.50,0.00,0.000,4,0.007,0.000,3327,3514,604,0,0,16,0,0,0
$GC,12646,15.28,9693.5,194.5,8.2,1166,12654,0.00,2.65,0.00,0.007,6,0.007,0.000,3329,1911,602,0,0,15,0,0,0
$GC,12971,15.21,9693.5,167.0,10.2,1197,12986,0.00,3.03,0.00,0.007,4,0.007,0.000,3328,3588,602,0,0,14,0,0,0
$GC,13238,15.25,9725.5,149.8,6.0,1220,13247,0.00,3.28,0.00,0.007,6,0.007,0.000,3326,1755,601,0,0,16,0,0,0
$GC,13572,15.33,9725.5,119.7,8.7,1252,13577,0.00,2.22,0.00,0.000,4,0.007,0.000,3326,247,601,0,0,10,0,0,0
$GC,13645,15.22,9725.5,112.7,11.1,1258,13661,0.00,3.40,0.00,0.007,6,0.007,0.000,3324,2060,602,0,0,15,0,0,0
$GC,13976,15.24,9747.5,88.1,6.3,1289,13990,0.00,2.83,0.00,0.007,4,0.007,0.000,3326,3443,600,0,0,14,0,0,0
$GC,14242,15.24,9747.5,64.9,7.7,1312,14249,0.00,2.92,0.00,0.000,6,0.007,0.000,3324,1851,595,0,0,14,0,0,0
$GC,14568,15.24,9747.5,36.4,10.2,1343,14583,0.00,3.17,0.00,0.000,4,0.007,0.000,3323,3619,603,0,0,19,0,0,0
$GC,14835,15.24,9747.5,14.1,9.3,1373,14842,0.00,2.83,0.00,0.007,6,0.007,0.000,3325,1897,601,0,0,15,0,0,0
$GC,14909,15.24,9747.5,7.6,8.3,1386,14924,0.00,3.00,0.00,0.007,4,0.007,0.000,3328,3617,602,0,0,14,0,0,0
$STATE,14967,end climb,SURFACE_DEPTH_REACHED
$STATE,14967,begin surface coast
$FINISH,1.3,1.002706
$STATE,15007,end surface coast,CONTROL_FINISHED_OK
$STATE,15009,begin surface
$SM_CCo,15100,0.00,0.000,0,0,600,465.58
$SM_GC,0.05,14.40,0.00,0.00,0.000,0.007,0.007,422,1912,600,-10.31,-3.05,465.58
$SUPER,3,254,254,0,0,0
$RAFOS_CLK,0
$RAFOS,4,1254573846,12.750000,12.735000,80,0,0,0,0,0,814,0,0,0,0,0
$RAFOS,3,1254573243,12.583333,12.567500,80,0,0,0,0,0,969,0,0,0,0,0
$RAFOS,2,1254572643,12.416667,12.400833,80,0,0,0,0,0,658,0,0,0,0,0
$RAFOS,1,1254572044,12.250000,12.234445,80,0,0,0,0,0,865,0,0,0,0,0
$RAFOS,0,1254571446,12.083333,12.068334,80,0,0,0,0,0,1020,0,0,0,0,0
$RAFOS_FIX,6709.578125,-5444.126953,031009,121248,5,80,8.68
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078236034
$INTERNAL_PRESSURE,16.2093
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,220.962
$10V_AH,10.7,35.008
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,66.329
$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,28.950,176.950,521.650,0.000,0.000,0.000,0.000,104.582,0.000,0.000,28.923,2392.963,9990.571,1023.888,1552.691,521.548,33.345,1239.584,0.000,1473.254,1800.000,3.444,0.000
$DEVICE_MAMPS,119.000,60.000,1300.000,0.000,0.000,103.000,0.000,223.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,840.689,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,336760
$DATA_FILE_SIZE,47159,1403
$CAP_FILE_SIZE,180250,0
$CFSIZE,260165632,248975360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,31,899,3,0
$SOUNDSPEED,1463.4
$GPS,031009,133626,6701.617,-5648.468,9,1.1,9,18.0