version: 66.06
glider: 1
mission: 14
dive: 106
start: 10 14 109 22 19 38
data:
$ID,1
$MISSION,14
$DIVE,106
$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,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,3
$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,0.0038000001
$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,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,-221393.12
$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,6
$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,75.708664
$FG_AHR_24V,4.6384106
$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
$GPS1,222036,6646.321,-5951.589,34,1.1,34,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,222659,6646.287,-5951.591,18,1.1,19,18.0
$SPEED_LIMITS,0.122,0.234
$TGT_NAME,HOLD
$TGT_LATLONG,6400.000,-5448.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.135,-0.191
$KALMAN_X,-43879.6,-1245.4,-1988.3,-16036.0,1984.7
$KALMAN_Y,9997.4,-608.5,-717.5,-20401.9,1541.4
$MHEAD_RNG_PITCHd_Wd,126.8,394450,-13.0,-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,-0.99,-146.6,0.0,0.0,0,103,0.00,0.00,-72.95,0.000,2,0.007,0.000,475,2235,2815,0,0,0,0,0,0
$GC,107,-0.99,-146.6,3.0,-1.7,15,145,10.68,3.38,-9.45,0.000,4,0.000,0.000,2547,358,3100,11,0,17,0,0,0
$GC,397,-0.71,-146.6,42.5,-11.6,51,403,0.00,3.33,0.00,0.000,6,0.007,0.000,2555,2273,3099,0,0,17,0,0,0
$GC,594,-0.71,-146.6,59.9,-8.5,70,599,0.00,2.15,0.00,0.007,4,0.007,0.000,2551,3750,3100,0,0,12,0,0,0
$GC,852,-0.67,-146.6,82.0,-8.8,92,859,0.00,3.17,0.00,0.007,6,0.007,0.000,2552,1828,3095,0,0,15,0,0,0
$STATE,1053,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1053,begin apogee
$GC,1061,-0.31,0.0,100.2,9.0,112,1192,0.60,0.00,119.50,0.000,6,0.000,0.007,2664,2238,2511,2,0,0,0,0,0
$STATE,1192,end apogee,CONTROL_FINISHED_OK
$STATE,1193,begin climb
$GC,1197,0.99,146.6,112.5,0.0,125,1338,1.67,2.95,120.82,0.000,4,0.000,0.000,2965,553,1904,3,0,13,0,0,0
$GC,1590,2.64,566.1,141.9,-6.4,160,1883,1.60,2.78,262.65,0.000,6,0.000,0.000,3301,2198,606,2,0,14,0,2,0
$GC,2197,4.30,991.1,184.9,-6.6,219,2213,0.00,3.65,0.12,0.007,4,0.007,0.000,3306,206,609,0,0,21,0,0,0
$GC,2450,4.83,1428.3,202.3,-7.0,241,2466,0.00,3.58,0.38,0.007,6,0.007,0.000,3305,2036,608,0,0,20,0,0,0
$GC,2780,5.41,1893.4,227.5,-7.9,272,2795,0.00,2.78,0.12,0.000,4,0.007,0.000,3303,586,608,0,0,13,0,0,0
$GC,3047,6.01,2383.3,248.9,-8.7,295,3059,0.00,2.90,1.67,0.000,6,0.007,0.000,3306,2191,613,0,0,14,0,0,0
$GC,3384,6.50,2785.0,269.6,-5.8,327,3400,0.00,2.95,0.15,0.000,4,0.007,0.000,3303,576,608,0,0,13,0,0,0
$GC,3652,6.97,3167.2,286.1,-5.2,350,3663,0.00,2.65,2.10,0.000,6,0.007,0.000,3303,2222,614,0,0,12,0,0,0
$GC,3988,7.45,3553.0,306.2,-5.3,382,4004,0.00,3.75,0.17,0.007,4,0.007,0.000,3304,491,608,0,0,21,0,0,0
$GC,4151,7.96,3967.8,314.8,-6.3,396,4166,0.00,2.80,1.33,0.000,6,0.007,0.000,3305,2214,606,0,0,13,0,0,0
$GC,4481,8.46,4376.1,335.7,-6.1,427,4496,0.00,3.28,0.12,0.007,4,0.000,0.000,3301,357,603,0,0,17,0,0,0
$GC,4748,8.94,4769.4,351.7,-5.6,450,4759,0.00,4.28,0.17,0.007,6,0.000,0.000,3308,2368,611,0,0,24,0,0,0
$GC,5084,9.44,5176.6,370.7,-6.0,482,5101,0.00,3.15,0.12,0.007,4,0.007,0.000,3302,452,612,0,0,15,0,0,0
$GC,5354,9.95,5589.9,386.5,-6.2,505,5363,0.00,3.08,1.15,0.000,6,0.007,0.000,3304,2115,607,0,0,16,0,0,0
$GC,5688,10.47,6011.8,407.3,-6.5,537,5704,0.00,3.40,0.30,0.007,4,0.000,0.000,3303,421,608,0,0,21,0,0,0
$GC,5956,11.04,6475.9,426.1,-7.8,560,5968,0.00,3.45,1.05,0.000,6,0.007,0.000,3306,2180,614,0,0,19,0,0,0
$GC,6292,11.54,6882.2,446.5,-6.0,592,6310,0.00,3.53,0.15,0.000,4,0.007,0.000,3306,211,611,0,0,17,0,0,0
$GC,6562,12.05,7291.0,464.3,-6.1,615,6573,0.00,3.42,0.93,0.000,6,0.000,0.000,3304,2222,603,0,0,18,0,0,0
$GC,6898,12.51,7672.9,485.7,-5.2,647,6915,0.00,3.03,0.12,0.007,4,0.007,0.000,3304,436,609,0,0,14,0,0,0
$GC,7167,13.04,8099.4,501.0,-6.6,670,7178,0.00,3.15,1.48,0.000,6,0.007,0.000,3303,2148,611,0,0,17,0,0,0
$GC,7503,13.56,8521.3,518.8,-6.5,702,7521,0.00,3.40,0.15,0.007,4,0.000,0.000,3303,448,609,0,0,17,0,0,0
$GC,7773,14.02,8894.7,533.7,-4.9,725,7780,0.00,3.35,0.00,0.007,6,0.007,0.000,3304,2243,609,0,0,15,0,0,0
$GC,8105,14.55,9324.5,554.0,-6.7,757,8120,0.00,3.00,0.00,0.007,4,0.007,0.000,3304,510,615,0,0,16,0,0,0
$GC,8372,15.05,9730.4,570.2,-6.0,780,8384,0.00,4.00,0.00,0.007,6,0.007,0.000,3304,2330,612,0,0,21,0,0,0
$GC,8708,15.54,10135.2,590.0,-5.9,812,8723,0.00,3.15,0.00,0.007,4,0.007,0.000,3305,480,608,0,0,17,0,0,0
$GC,8976,16.07,10564.7,606.3,-6.7,835,8983,0.00,3.10,0.00,0.007,6,0.007,0.000,3303,2090,612,0,0,15,0,0,0
$GC,9307,16.57,10969.7,626.1,-5.9,867,9322,0.00,2.85,0.00,0.000,4,0.007,0.000,3305,340,613,0,0,14,0,0,0
$GC,9574,17.09,11390.5,642.7,-6.5,890,9584,0.00,3.35,0.00,0.007,6,0.007,0.000,3304,2328,611,0,0,16,0,0,0
$GC,9908,17.56,11776.9,662.7,-5.3,922,9923,0.00,3.33,0.00,0.007,4,0.007,0.000,3302,449,609,0,0,15,0,0,0
$GC,10176,18.09,12209.0,678.5,-6.8,945,10183,0.00,2.80,0.00,0.007,6,0.007,0.000,3303,2161,609,0,0,13,0,0,0
$GC,10501,18.58,12603.2,699.7,-5.6,976,10515,0.00,3.05,0.00,0.007,4,0.007,0.000,3301,415,607,0,0,17,0,0,0
$GC,10768,19.12,13044.6,715.6,-7.1,999,10779,0.00,3.33,0.00,0.007,6,0.000,0.000,3305,2100,603,0,0,19,0,0,0
$GC,11104,19.60,13430.4,731.2,-5.3,1031,11120,0.00,3.05,0.00,0.007,4,0.000,0.000,3305,472,610,0,0,13,0,0,0
$GC,11372,20.00,13755.9,746.1,-3.4,1054,11379,0.00,3.17,0.00,0.007,6,0.000,0.000,3305,2230,607,0,0,15,0,0,0
$GC,11704,19.78,13755.9,728.9,10.1,1086,11719,0.00,3.28,0.00,0.007,4,0.007,0.000,3302,505,605,0,0,17,0,0,0
$GC,11971,19.59,13755.9,701.2,9.7,1109,11978,0.00,2.67,0.00,0.007,6,0.007,0.000,3304,2226,609,0,0,16,0,0,0
$GC,12296,19.78,13820.3,683.3,5.0,1140,12311,0.00,3.88,0.00,0.007,4,0.007,0.000,3305,442,609,0,0,19,0,0,0
$GC,12564,19.67,13820.3,659.5,9.2,1163,12571,0.00,2.95,0.00,0.007,6,0.007,0.000,3310,2155,609,0,0,12,0,0,0
$GC,12889,19.74,13822.2,634.5,7.0,1194,12895,0.00,2.80,0.00,0.007,4,0.007,0.000,3305,495,611,0,0,12,0,0,0
$GC,13147,19.82,13822.2,616.1,7.5,1216,13154,0.00,2.78,0.00,0.007,6,0.007,0.000,3303,2127,610,0,0,11,0,0,0
$GC,13472,19.91,13822.2,592.2,7.5,1247,13488,0.00,3.67,0.00,0.007,4,0.007,0.000,3303,332,607,0,0,19,0,0,0
$GC,13740,19.79,13822.2,570.7,10.1,1270,13747,0.00,3.05,0.00,0.000,6,0.007,0.000,3310,2022,609,0,0,14,0,0,0
$GC,14064,19.79,13822.2,539.5,8.2,1301,14070,0.00,2.53,0.00,0.007,4,0.007,0.000,3303,434,607,0,0,16,0,0,0
$GC,14322,19.79,13822.2,519.8,7.9,1323,14330,0.00,3.05,0.00,0.007,6,0.007,0.000,3306,2355,607,0,0,15,0,0,0
$GC,14647,19.79,13822.2,494.0,8.1,1354,14662,0.00,3.67,0.00,0.007,4,0.007,0.000,3306,351,612,0,0,18,0,0,0
$GC,14914,19.79,13822.2,472.1,7.9,1377,14921,0.00,3.72,0.00,0.007,6,0.007,0.000,3305,2200,607,0,0,18,0,0,0
$GC,15239,19.79,13822.2,446.7,8.0,1408,15255,0.00,3.17,0.00,0.007,4,0.007,0.000,3299,470,609,0,0,15,0,0,0
$GC,15506,19.79,13822.2,425.1,8.5,1431,15515,0.00,2.75,0.00,0.000,6,0.007,0.000,3302,2289,590,0,0,13,0,0,0
$GC,15832,19.98,13849.9,400.7,6.1,1462,15847,0.00,3.33,0.00,0.007,4,0.007,0.000,3306,412,607,0,0,17,0,0,0
$GC,16099,19.88,13849.9,380.4,10.7,1485,16106,0.00,3.05,0.00,0.007,6,0.007,0.000,3308,2186,610,0,0,15,0,0,0
$GC,16424,20.01,13865.2,351.5,6.5,1516,16439,0.00,2.90,0.00,0.007,4,0.007,0.000,3304,287,609,0,0,17,0,0,0
$GC,16691,19.84,13865.2,332.9,10.4,1539,16701,0.00,3.38,0.00,0.007,6,0.007,0.000,3307,2141,608,0,0,19,0,0,0
$GC,17025,19.84,13865.2,310.1,7.4,1571,17040,0.00,2.90,0.00,0.007,4,0.007,0.000,3307,468,614,0,0,14,0,0,0
$GC,17293,19.94,13867.3,287.5,7.0,1594,17299,0.00,2.83,0.00,0.007,6,0.007,0.000,3304,2194,601,0,0,14,0,0,0
$GC,17617,20.00,13867.3,263.9,7.4,1625,17632,0.00,3.10,0.00,0.007,4,0.007,0.000,3310,500,612,0,0,16,0,0,0
$GC,17884,20.10,13867.3,243.7,8.0,1648,17894,0.00,3.47,0.00,0.007,6,0.007,0.000,3307,2231,610,0,0,19,0,0,0
$GC,18219,20.20,13881.8,220.4,6.6,1680,18234,0.00,2.83,0.00,0.007,4,0.007,0.000,3303,401,615,0,0,15,0,0,0
$GC,18485,20.20,13881.8,202.5,8.1,1703,18493,0.00,3.38,0.00,0.007,6,0.007,0.000,3307,2430,612,0,0,20,0,0,0
$GC,18811,20.36,13896.1,179.5,6.6,1734,18826,0.00,4.12,0.00,0.007,4,0.007,0.000,3302,503,610,0,0,23,0,0,0
$GC,19078,20.36,13896.1,156.5,8.7,1757,19087,0.00,2.78,0.00,0.007,6,0.000,0.000,3306,2325,609,0,0,18,0,0,0
$GC,19403,20.36,13896.1,129.7,7.4,1788,19418,0.00,4.03,0.00,0.007,4,0.000,0.000,3302,470,611,0,0,21,0,0,0
$GC,19423,20.36,13896.1,128.2,7.5,1789,19430,0.00,2.67,0.00,0.007,6,0.007,0.000,3302,2179,609,0,0,10,0,0,0
$GC,19748,20.36,13896.1,104.0,7.5,1820,19763,0.00,3.08,0.00,0.007,4,0.007,0.000,3304,626,615,0,0,14,0,0,0
$GC,20015,20.36,13896.1,82.9,7.6,1843,20023,0.00,2.55,0.00,0.007,6,0.007,0.000,3305,2192,608,0,0,14,0,0,0
$GC,20339,20.36,13896.1,55.4,8.2,1874,20355,0.00,3.60,0.00,0.007,4,0.007,0.000,3306,482,610,0,0,17,0,0,0
$GC,20607,20.36,13896.1,32.5,8.4,1897,20615,0.00,3.20,0.00,0.007,6,0.007,0.000,3302,2134,609,0,0,15,0,0,0
$GC,20808,20.41,13939.5,18.8,5.6,1917,20823,0.00,3.28,0.00,0.007,4,0.000,0.000,3303,426,607,0,0,20,0,0,0
$STATE,21058,end climb,SURFACE_DEPTH_REACHED
$STATE,21059,begin surface coast
$FINISH,1.6,1.024900
$STATE,21080,end surface coast,CONTROL_FINISHED_OK
$STATE,21080,begin surface
$SM_CCo,21171,0.00,0.000,0,0,614,463.86
$SM_GC,0.05,14.57,0.00,0.00,0.000,0.007,0.007,377,2134,614,-10.21,3.05,463.86
$SUPER,3,206,254,0,0,0
$RAFOS_CLK,0
$RAFOS,0,1255579451,4.083333,4.069722,80,0,0,0,0,0,511,0,0,0,0,0
$RAFOS,4,1255567447,0.750000,0.735278,80,0,0,0,0,0,758,0,0,0,0,0
$RAFOS,3,1255566843,0.583333,0.567500,80,0,0,0,0,0,744,0,0,0,0,0
$RAFOS,2,1255566242,0.416667,0.400556,80,0,0,0,0,0,882,0,0,0,0,0
$RAFOS,1,1255565642,0.250000,0.233889,80,0,0,0,0,0,662,0,0,0,0,0
$RAFOS,0,1255565043,0.083333,0.067500,80,0,0,0,0,0,555,0,0,0,0,0
$RAFOS_FIX,6643.401855,-6132.187500,151009,000001,5,80,10.34
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078075584
$INTERNAL_PRESSURE,16.1574
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,263.279
$10V_AH,10.7,39.605
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,75.904
$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,29.125,229.575,514.775,0.000,0.000,0.000,0.000,121.144,0.000,0.000,19.187,3332.627,14238.187,1159.390,2165.063,634.166,33.350,1390.714,0.000,2062.602,2520.000,3.858,0.000
$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,1190.299,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330720
$DATA_FILE_SIZE,66010,1965
$CAP_FILE_SIZE,243152,9
$CFSIZE,260165632,243900416
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,35,1169,2,0
$SOUNDSPEED,1457.0
$GPS,151009,042250,6646.172,-5956.079,32,1.1,32,18.0