version: 66.06
glider: 1
mission: 14
dive: 109
start: 10 15 109 15 1 29
data:
$ID,1
$MISSION,14
$DIVE,109
$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,-221453.91
$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,1
$R_STBD_OVSHOOT,6
$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,76.280762
$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
$GPS1,150213,6643.363,-6004.966,21,1.1,21,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,150830,6643.346,-6005.024,27,1.1,28,18.0
$SPEED_LIMITS,0.122,0.234
$TGT_NAME,HOLD
$TGT_LATLONG,6400.000,-5448.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.141,-0.186
$KALMAN_X,-50505.9,-1570.6,-964.9,-19867.2,1306.9
$KALMAN_Y,7348.0,-515.8,37.9,-24062.2,849.7
$MHEAD_RNG_PITCHd_Wd,124.9,397191,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-0.99,-146.6,0.0,0.0,0,88,0.00,0.00,-57.00,0.000,2,0.007,0.000,414,2232,2323,0,0,0,0,0,0
$GC,91,-0.99,-146.6,3.1,-1.8,12,143,10.12,3.08,-25.27,0.000,4,0.000,0.000,2536,388,3104,10,0,18,0,0,0
$GC,250,-0.65,-146.6,24.4,-18.1,38,268,0.40,3.60,0.00,0.000,6,0.015,0.000,2641,2548,3103,1,0,21,0,0,0
$GC,456,-0.59,-146.6,49.2,-8.5,57,473,0.70,3.30,0.00,0.007,4,0.000,0.000,2476,432,3104,2,0,18,0,0,0
$GC,725,-0.59,-146.6,72.4,-9.4,80,733,0.55,3.38,0.00,0.007,6,0.000,0.000,2659,2421,3101,1,0,16,0,0,0
$STATE,1013,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1013,begin apogee
$GC,1020,-0.31,0.0,100.6,9.0,108,1151,0.52,0.00,117.03,0.000,6,0.000,0.007,2558,1905,2524,1,0,0,0,0,0
$STATE,1151,end apogee,CONTROL_FINISHED_OK
$STATE,1152,begin climb
$GC,1154,0.99,146.6,111.2,0.0,121,1302,2.00,2.47,118.97,0.000,4,0.000,0.000,2949,386,1932,1,0,12,0,0,0
$GC,1307,2.75,613.5,123.5,-7.9,134,1610,1.73,3.12,272.33,0.000,6,0.000,0.000,3332,2234,595,1,0,15,0,3,0
$GC,1935,4.54,1102.1,171.9,-8.6,195,1950,0.00,2.90,0.12,0.007,4,0.007,0.000,3332,3762,600,0,0,16,0,0,0
$GC,2202,5.11,1565.5,195.0,-7.8,218,2212,0.00,3.20,1.38,0.000,6,0.007,0.000,3330,1828,598,0,0,14,0,0,0
$GC,2537,5.67,2017.6,220.1,-7.5,250,2553,0.00,3.28,0.12,0.007,4,0.007,0.000,3334,3703,596,0,0,18,0,0,0
$GC,2805,6.17,2427.4,237.2,-6.1,273,2817,0.00,4.18,0.25,0.000,6,0.007,0.000,3329,1864,597,0,0,23,0,0,0
$GC,3142,6.71,2864.7,259.5,-7.0,305,3149,0.00,2.53,0.12,0.000,4,0.007,0.000,3334,342,596,0,0,14,0,0,0
$GC,3257,7.30,3342.7,268.0,-8.3,314,3267,0.00,3.20,0.90,0.000,6,0.000,0.000,3334,2274,595,0,0,15,0,0,0
$GC,3592,7.85,3791.1,293.2,-7.3,346,3607,0.00,2.92,0.12,0.007,4,0.007,0.000,3332,3652,596,0,0,15,0,0,0
$GC,3731,8.43,4261.1,304.3,-8.0,358,3751,0.00,3.17,0.93,0.000,6,0.007,0.001,3332,1920,595,0,0,15,0,0,0
$GC,4065,8.98,4707.5,328.8,-7.3,389,4072,0.00,2.53,0.12,0.007,4,0.007,0.000,3333,467,600,0,0,13,0,0,0
$GC,4095,9.53,5155.4,331.1,-7.3,391,4110,0.00,3.30,0.80,0.000,6,0.007,0.000,3334,2203,595,0,0,14,0,0,0
$GC,4425,10.02,5555.9,351.1,-5.8,422,4431,0.00,2.28,0.12,0.000,4,0.007,0.000,3332,3714,594,0,0,10,0,0,0
$GC,4683,10.50,5949.3,365.9,-5.6,444,4693,0.00,2.92,1.62,0.000,6,0.007,0.000,3330,1804,595,0,0,15,0,0,0
$GC,5018,11.01,6359.0,386.2,-6.1,476,5034,0.00,3.12,0.12,0.007,4,0.000,0.000,3331,190,597,0,0,16,0,0,0
$GC,5131,11.53,6783.2,393.4,-6.6,485,5141,0.00,4.50,0.00,0.007,6,0.007,0.000,3336,2288,594,0,0,21,0,0,0
$GC,5466,12.04,7201.4,413.9,-6.4,517,5482,0.00,2.70,0.12,0.007,4,0.007,0.000,3332,3445,597,0,0,15,0,0,0
$GC,5617,12.58,7639.7,424.1,-7.0,530,5633,0.00,2.58,1.60,0.000,6,0.007,0.000,3337,2026,599,0,0,11,0,0,0
$GC,5947,13.12,8073.7,445.4,-6.9,561,5954,0.00,2.62,0.12,0.000,4,0.007,0.000,3332,494,594,0,0,12,0,0,0
$GC,5959,13.66,8513.6,446.3,-7.1,561,5970,0.00,3.17,1.42,0.000,6,0.007,0.000,3332,2155,596,0,0,15,0,0,0
$GC,6295,14.14,8901.9,465.4,-5.4,593,6302,0.00,2.58,0.00,0.007,4,0.007,0.000,3330,3552,593,0,0,13,0,0,0
$GC,6554,14.64,9308.4,480.1,-6.0,615,6564,0.00,3.72,0.00,0.007,6,0.000,0.000,3332,1611,595,0,0,23,0,0,0
$GC,6888,15.19,9760.9,502.7,-7.5,647,6903,0.00,4.25,0.00,0.007,4,0.007,0.000,3333,3641,596,0,0,22,0,0,0
$GC,7156,15.68,10154.8,518.7,-5.6,670,7162,0.00,2.85,0.00,0.007,6,0.000,0.000,3330,1881,596,0,0,16,0,0,0
$GC,7481,16.14,10532.7,536.2,-5.1,701,7487,0.00,2.70,0.00,0.000,4,0.007,0.000,3332,413,598,0,0,11,0,0,0
$GC,7683,16.70,10982.9,547.8,-7.4,718,7690,0.00,3.35,0.00,0.000,6,0.007,0.000,3333,2250,596,0,0,14,0,0,0
$GC,8008,17.15,11351.8,563.4,-4.8,749,8014,0.00,2.15,0.00,0.007,4,0.007,0.000,3328,3630,599,0,0,11,0,0,0
$GC,8109,17.66,11766.9,569.4,-6.3,757,8118,0.00,3.67,0.00,0.007,6,0.007,0.000,3329,1631,596,0,0,17,0,0,0
$GC,8443,18.11,12129.7,584.7,-4.6,789,8458,0.00,2.80,0.00,0.007,4,0.007,0.000,3334,334,594,0,0,17,0,0,0
$GC,8475,18.59,12523.3,586.5,-5.6,791,8481,0.00,3.05,0.00,0.007,6,0.007,0.000,3333,2192,596,0,0,18,0,0,0
$GC,8799,18.90,12775.0,597.4,-1.0,822,8805,0.00,2.33,0.00,0.000,4,0.007,0.000,3332,3780,601,0,0,12,0,0,0
$GC,9057,18.90,12777.4,579.2,6.9,844,9064,0.00,3.65,0.00,0.007,6,0.000,0.000,3332,1847,595,0,0,19,0,0,0
$GC,9389,18.82,12777.4,555.1,7.3,876,9405,0.00,3.35,0.00,0.007,4,0.007,0.000,3331,3788,590,0,0,18,0,0,0
$GC,9496,18.96,12813.6,548.8,5.9,885,9512,0.00,3.10,0.00,0.007,6,0.000,0.000,3330,1921,596,0,0,12,0,0,0
$GC,9826,19.00,12848.8,526.5,5.9,916,9841,0.00,3.12,0.00,0.007,4,0.007,0.000,3332,3604,596,0,0,14,0,0,0
$GC,10081,19.05,12883.6,511.6,5.9,938,10091,0.00,3.78,0.00,0.007,6,0.007,0.000,3331,2021,591,0,0,22,0,0,0
$GC,10417,18.96,12883.6,481.1,9.0,970,10432,0.00,3.35,0.00,0.007,4,0.000,0.000,3330,547,597,0,0,21,0,0,0
$GC,10456,18.96,12883.6,477.8,8.0,973,10471,0.00,3.55,0.00,0.000,6,0.007,0.000,3330,2336,595,0,0,20,0,0,0
$GC,10785,19.03,12883.6,453.7,7.6,1004,10791,0.00,2.20,0.00,0.007,4,0.007,0.000,3327,3476,600,0,0,11,0,0,0
$GC,11043,19.11,12883.6,434.4,7.2,1026,11054,0.00,3.62,0.00,0.007,6,0.007,0.000,3332,1778,595,0,0,17,0,0,0
$GC,11379,19.00,12883.6,402.3,10.1,1058,11394,0.00,3.03,0.00,0.007,4,0.007,0.000,3333,238,597,0,0,16,0,0,0
$GC,11410,18.89,12883.6,399.0,10.4,1060,11419,0.00,3.92,0.00,0.000,6,0.007,0.000,3328,2205,594,0,0,19,0,0,0
$GC,11744,18.95,12883.6,374.0,7.2,1092,11751,0.00,2.75,0.00,0.007,4,0.007,0.000,3333,3784,598,0,0,14,0,0,0
$GC,11865,18.86,12883.6,362.7,9.3,1102,11882,0.00,3.25,0.00,0.007,6,0.000,0.000,3331,1878,592,0,0,14,0,0,0
$GC,12196,18.95,12883.6,334.2,7.1,1133,12211,0.00,3.40,0.00,0.007,4,0.007,0.000,3333,3624,596,0,0,20,0,0,0
$GC,12463,19.05,12883.6,316.1,7.4,1156,12469,0.00,2.90,0.00,0.000,6,0.007,0.000,3332,1892,598,0,0,12,0,0,0
$GC,12788,18.98,12883.6,291.2,9.8,1187,12804,0.00,3.17,0.00,0.007,4,0.007,0.000,3331,3616,596,0,0,18,0,0,0
$GC,13056,19.11,12899.4,267.2,6.5,1210,13063,0.00,2.90,0.00,0.007,6,0.007,0.000,3336,1840,596,0,0,14,0,0,0
$GC,13382,19.02,12899.4,243.3,9.7,1241,13397,0.00,3.90,0.00,0.007,4,0.007,0.000,3330,3682,594,0,0,21,0,0,0
$GC,13649,19.08,12899.4,218.4,7.5,1264,13656,0.00,2.95,0.00,0.007,6,0.007,0.000,3328,1878,598,0,0,14,0,0,0
$GC,13974,19.16,12905.6,195.8,6.8,1295,13991,0.00,3.67,0.00,0.007,4,0.007,0.000,3332,3646,597,0,0,19,0,0,0
$GC,14007,19.16,12911.4,193.4,6.8,1297,14017,0.00,3.88,0.00,0.007,6,0.007,0.000,3332,1844,596,0,0,17,0,0,0
$GC,14342,19.16,12911.4,168.4,8.2,1329,14357,0.00,3.33,0.00,0.007,4,0.007,0.000,3332,3448,596,0,0,17,0,0,0
$GC,14553,19.19,12930.5,154.5,6.4,1347,14559,0.00,2.83,0.00,0.007,6,0.007,0.000,3332,1821,596,0,0,14,0,0,0
$GC,14878,19.12,12930.5,126.8,8.7,1378,14893,0.00,3.25,0.00,0.007,4,0.007,0.000,3334,3595,596,0,0,17,0,0,0
$GC,15051,19.16,12968.7,114.4,5.8,1393,15065,0.00,3.05,0.00,0.007,6,0.007,0.000,3336,1860,598,0,0,18,0,0,0
$GC,15380,19.17,12974.0,92.1,6.9,1424,15395,0.00,3.42,0.00,0.007,4,0.007,0.000,3334,3579,600,0,0,19,0,0,0
$GC,15647,19.17,12974.0,73.5,7.1,1447,15657,0.00,3.85,0.00,0.007,6,0.007,0.000,3333,1870,599,0,0,21,0,0,0
$GC,15981,19.07,12974.0,40.6,9.8,1479,15999,0.00,2.95,0.00,0.007,4,0.007,0.000,3332,3430,593,0,0,11,0,0,0
$GC,16251,19.18,13060.8,21.6,4.2,1502,16257,0.00,2.83,0.00,0.007,6,0.007,0.000,3335,1884,593,0,0,14,0,0,0
$GC,16457,19.08,13060.8,8.1,9.2,1536,16473,0.00,3.03,0.00,0.007,4,0.007,0.000,3332,3732,593,0,0,17,0,0,0
$STATE,16504,end climb,SURFACE_DEPTH_REACHED
$STATE,16505,begin surface coast
$FINISH,1.6,1.024920
$STATE,16534,end surface coast,CONTROL_FINISHED_OK
$STATE,16534,begin surface
$SM_CCo,16626,0.00,0.000,0,0,597,466.81
$SM_GC,0.05,14.48,0.00,0.00,0.000,0.000,0.007,404,1913,597,-9.80,-3.11,466.81
$SUPER,3,206,254,0,0,0
$RAFOS_CLK,0
$RAFOS,4,1255625051,16.750000,16.736389,80,0,0,0,0,0,782,0,0,0,0,0
$RAFOS,3,1255624444,16.583334,16.567778,80,0,0,0,0,0,732,0,0,0,0,0
$RAFOS,2,1255623841,16.416666,16.400278,80,0,0,0,0,0,930,0,0,0,0,0
$RAFOS,1,1255623244,16.250000,16.234444,80,0,0,0,0,0,700,0,0,0,0,0
$RAFOS,0,1255622643,16.083334,16.067499,80,0,0,0,0,0,542,0,0,0,0,0
$RAFOS_FIX,6636.277832,-6144.401855,151009,161601,5,80,15.97
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078088722
$INTERNAL_PRESSURE,16.259
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,265.583
$10V_AH,10.7,39.858
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,76.435
$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,30.500,209.750,518.350,0.000,0.000,0.000,0.000,111.397,0.000,0.000,28.509,2620.584,11091.490,1093.718,1631.637,585.398,33.350,1331.046,0.000,1546.264,1800.000,3.381,0.000
$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,942.387,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330696
$DATA_FILE_SIZE,50364,1549
$CAP_FILE_SIZE,201436,8
$CFSIZE,260165632,243654656
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,38,1069,3,0
$SOUNDSPEED,1454.3
$GPS,151009,194848,6640.372,-6008.833,8,1.1,8,18.0