version: 66.06
glider: 1
mission: 14
dive: 127
start: 10 18 109 15 41 58
data:
$ID,1
$MISSION,14
$DIVE,127
$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,-221939.8
$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,0
$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,78.823723
$FG_AHR_24V,4.6384392
$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
$GPS1,154240,6642.424,-6024.478,19,1.1,20,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,154846,6642.376,-6024.486,25,1.1,25,18.0
$SPEED_LIMITS,0.122,0.234
$TGT_NAME,HOLD
$TGT_LATLONG,6400.000,-5448.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.191,-0.133
$KALMAN_X,-67132.6,2388.2,314.4,-22775.6,-619.8
$KALMAN_Y,11546.4,92.2,-479.6,-30207.8,471.5
$MHEAD_RNG_PITCHd_Wd,106.8,406276,-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,26,-0.99,-145.8,0.0,0.0,0,112,0.00,0.00,-81.95,0.000,2,0.007,0.000,448,2299,2992,0,0,0,0,0,0
$GC,115,-0.99,-146.6,3.2,-0.2,17,147,10.40,3.20,-3.97,0.000,4,0.000,0.000,2521,318,3114,11,0,17,0,0,0
$GC,400,-0.99,-146.6,37.5,-7.7,51,416,0.35,4.10,0.00,0.007,6,0.000,0.000,2411,2432,3115,1,0,23,0,0,0
$GC,602,-0.99,-146.6,52.9,-7.6,70,618,0.68,3.97,0.00,0.007,4,0.000,0.000,2574,368,3109,2,0,20,0,0,0
$GC,870,-0.99,-146.6,72.1,-7.1,93,880,0.95,3.20,0.00,0.000,6,0.000,0.000,2407,2199,3111,2,0,15,0,0,0
$GC,1205,-1.09,-146.6,95.7,-6.6,125,1220,0.35,3.33,0.00,0.007,4,0.000,0.000,2512,430,3112,1,0,17,0,0,0
$STATE,1263,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1263,begin apogee
$GC,1274,-0.31,0.0,100.3,7.8,130,1405,0.73,0.00,116.30,0.000,6,0.000,0.007,2695,2042,2535,1,0,0,0,0,0
$STATE,1406,end apogee,CONTROL_FINISHED_OK
$STATE,1406,begin climb
$GC,1409,0.99,146.6,109.5,0.0,143,1548,1.23,2.97,121.70,0.000,4,0.000,0.000,2960,3568,1931,1,0,15,0,0,0
$GC,1800,2.63,597.9,143.7,-7.5,178,2094,2.17,4.05,261.33,0.000,6,0.000,0.000,3332,1724,639,3,0,23,0,2,0
$GC,2408,4.45,1046.3,187.1,-7.4,237,2436,0.00,3.78,9.68,0.000,4,0.007,0.000,3331,3617,599,0,0,20,0,0,0
$GC,2689,4.94,1444.8,204.9,-5.8,261,2699,0.00,3.20,0.82,0.000,6,0.007,0.000,3332,1705,589,0,0,16,0,0,0
$GC,3024,5.45,1861.4,226.8,-6.4,293,3039,0.00,3.17,0.12,0.007,4,0.007,0.000,3331,3701,606,0,0,17,0,0,0
$GC,3291,5.95,2268.8,243.4,-6.1,316,3301,0.00,2.97,1.60,0.000,6,0.007,0.000,3329,1730,599,0,0,16,0,0,0
$GC,3626,6.52,2727.4,267.0,-7.7,348,3642,0.00,3.70,0.12,0.000,4,0.007,0.000,3335,3553,599,0,0,19,0,0,0
$GC,3895,7.10,3199.8,288.0,-8.2,371,3905,0.00,2.90,1.48,0.000,6,0.000,0.000,3327,1796,613,0,0,13,0,0,0
$GC,4230,7.64,3639.5,312.3,-7.1,403,4245,0.00,3.35,0.12,0.007,4,0.007,0.000,3331,3584,599,0,0,18,0,0,0
$GC,4498,8.18,4078.8,331.7,-7.1,426,4508,0.00,3.38,1.30,0.000,6,0.007,0.000,3335,1860,598,0,0,13,0,0,0
$GC,4833,8.65,4462.8,351.5,-5.3,458,4848,0.00,2.83,0.12,0.007,4,0.000,0.000,3336,3541,599,0,0,15,0,0,0
$GC,5101,9.22,4924.5,371.9,-7.8,481,5111,0.00,2.80,1.85,0.000,6,0.007,0.000,3334,1882,604,0,0,12,0,0,0
$GC,5436,9.74,5347.5,395.4,-6.6,513,5451,0.00,3.17,0.12,0.000,4,0.007,0.000,3331,3558,600,0,0,15,0,0,0
$GC,5704,10.22,5740.3,412.6,-5.6,536,5714,0.00,3.42,0.80,0.000,6,0.007,0.000,3330,1938,597,0,0,16,0,0,0
$GC,6039,10.74,6159.0,433.2,-6.5,568,6045,0.00,2.75,0.12,0.007,4,0.000,0.000,3331,3646,579,0,0,13,0,0,0
$GC,6298,11.25,6570.5,449.4,-6.2,590,6308,0.00,2.90,1.75,0.000,6,0.007,0.000,3332,1896,594,0,0,13,0,0,0
$GC,6633,11.73,6961.9,469.9,-5.6,622,6648,0.00,2.78,0.25,0.007,4,0.007,0.000,3332,3615,602,0,0,14,0,0,0
$GC,6901,12.20,7348.8,484.5,-5.4,645,6911,0.00,3.03,1.48,0.000,6,0.007,0.000,3334,1872,592,0,0,15,0,0,0
$GC,7236,12.70,7749.3,503.5,-5.9,677,7251,0.00,3.45,0.12,0.007,4,0.000,0.000,3332,3569,599,0,0,17,0,0,0
$GC,7504,13.19,8148.5,519.7,-5.8,700,7514,0.00,4.32,0.17,0.000,6,0.007,0.000,3331,1843,597,0,0,24,0,0,0
$GC,7838,12.89,8148.5,521.0,7.7,732,7855,0.00,3.22,0.12,0.007,4,0.007,0.000,3330,3772,601,0,0,18,0,0,0
$GC,8107,12.92,8176.7,502.2,6.1,755,8119,0.00,2.90,1.83,0.000,6,0.000,0.000,3335,1893,600,0,0,16,0,0,0
$GC,8444,13.00,8186.6,480.6,6.7,787,8461,0.00,3.58,0.12,0.007,4,0.007,0.000,3333,3553,600,0,0,17,0,0,0
$GC,8713,13.24,8230.4,462.2,5.6,810,8723,0.00,3.12,1.50,0.000,6,0.007,0.000,3331,1876,602,0,0,14,0,0,0
$GC,9048,13.25,8233.9,439.0,6.9,842,9064,0.00,3.67,0.12,0.000,4,0.007,0.000,3333,3632,599,0,0,16,0,0,0
$GC,9317,13.25,8233.9,416.3,9.5,865,9327,0.00,3.80,0.73,0.000,6,0.000,0.000,3334,1825,601,0,0,18,0,0,0
$GC,9651,12.64,8233.9,353.4,20.1,897,9658,0.00,2.40,0.12,0.007,4,0.000,0.000,3328,405,602,0,0,11,0,0,0
$GC,9686,12.52,8233.9,348.6,12.1,899,9696,0.00,3.20,1.10,0.000,6,0.000,0.000,3330,2154,601,0,0,15,0,0,0
$GC,10021,12.52,8233.9,320.0,9.3,931,10037,0.00,3.33,0.12,0.007,4,0.007,0.000,3331,3770,598,0,0,17,0,0,0
$GC,10285,13.22,8233.9,298.3,7.9,954,10300,0.00,3.42,0.52,0.000,6,0.007,0.000,3335,1914,599,0,0,19,0,0,0
$GC,10614,12.95,8233.9,258.7,13.3,985,10630,0.00,4.03,0.12,0.007,4,0.007,0.000,3329,3714,602,0,0,21,0,0,0
$GC,10882,13.08,8233.9,229.4,7.2,1008,10892,0.00,3.83,1.00,0.000,6,0.007,0.000,3335,1898,599,0,0,17,0,0,0
$GC,11217,13.08,8233.9,204.1,8.2,1040,11232,0.00,3.35,0.12,0.007,4,0.007,0.000,3331,3774,599,0,0,17,0,0,0
$GC,11485,12.98,8233.9,183.9,9.0,1063,11496,0.00,3.38,1.12,0.000,6,0.007,0.000,3335,1910,601,0,0,15,0,0,0
$GC,11821,13.12,8251.0,162.5,6.5,1095,11839,0.00,3.15,0.22,0.007,4,0.000,0.000,3330,3573,599,0,0,15,0,0,0
$GC,12091,13.23,8259.1,141.7,6.8,1118,12101,0.00,3.05,1.62,0.000,6,0.007,0.000,3333,1872,590,0,0,13,0,0,0
$GC,12427,13.25,8271.6,119.7,6.6,1150,12442,0.00,3.17,0.12,0.007,4,0.007,0.000,3330,3564,600,0,0,17,0,0,0
$GC,12454,13.25,8271.6,117.6,7.4,1152,12469,0.00,3.42,0.57,0.000,6,0.007,0.000,3334,1900,590,0,0,20,0,0,0
$GC,12783,13.25,8271.6,90.0,7.4,1183,12799,0.00,3.12,0.15,0.000,4,0.007,0.000,3333,3587,606,0,0,14,0,0,0
$GC,13051,13.25,8271.6,68.6,7.4,1206,13063,0.00,2.88,2.17,0.000,6,0.007,0.000,3332,1844,601,0,0,10,0,0,0
$GC,13387,13.37,8286.0,49.4,6.6,1238,13403,0.00,3.05,0.15,0.000,4,0.007,0.000,3332,3563,600,0,0,14,0,0,0
$GC,13654,13.37,8286.0,26.0,7.3,1261,13667,0.00,3.42,1.80,0.000,6,0.007,0.000,3335,1815,599,0,0,19,0,0,0
$GC,13865,13.31,8286.0,10.5,8.1,1291,13881,0.00,3.05,0.12,0.007,4,0.007,0.000,3330,3556,598,0,0,14,0,0,0
$STATE,14013,end climb,SURFACE_DEPTH_REACHED
$STATE,14013,begin surface coast
$FINISH,1.7,1.025107
$STATE,14055,end surface coast,CONTROL_FINISHED_OK
$STATE,14055,begin surface
$SM_CCo,14146,0.00,0.000,0,0,597,466.32
$SM_GC,0.05,14.60,0.00,0.00,0.000,0.007,0.007,387,1656,597,-10.20,-10.21,466.32
$SUPER,3,206,254,0,0,0
$RAFOS_CLK,0
$RAFOS,4,1255884243,16.750000,16.734167,80,0,0,0,0,0,841,0,0,0,0,0
$RAFOS,3,1255883641,16.583334,16.566944,80,0,0,0,0,0,785,0,0,0,0,0
$RAFOS,1,1255882444,16.250000,16.234444,80,0,0,0,0,0,724,0,0,0,0,0
$RAFOS,0,1255881845,16.083334,16.068056,80,0,0,0,0,0,556,0,0,0,0,0
$RAFOS_FIX,6637.814453,-6157.416016,181009,161608,4,80,30.72
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078233929
$INTERNAL_PRESSURE,16.1807
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,277.511
$10V_AH,10.7,41.080
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,78.958
$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,31.450,164.700,537.000,0.000,0.000,0.000,0.000,112.679,0.000,0.000,27.297,2208.039,9295.857,1002.211,1482.811,510.325,33.353,1214.518,0.000,1401.866,1800.000,4.110,0.000
$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,806.759,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330744
$DATA_FILE_SIZE,44135,1324
$CAP_FILE_SIZE,174563,8
$CFSIZE,260165632,242262016
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,39,816,2,0
$SOUNDSPEED,1451.2
$GPS,181009,194706,6643.081,-6020.597,12,1.1,12,18.0