version: 66.06
glider: 108
mission: 14
dive: 30
start: 6 12 110 3 36 52
data:
$ID,108
$MISSION,14
$DIVE,30
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$D_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,330
$T_MISSION,440
$T_ABORT,1440
$T_TURN,270
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,900
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,51740
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,2.7999999e-06
$HEADING,-1
$ESCAPE_HEADING,100
$ESCAPE_HEADING_DELTA,5
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-179394.02
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,350
$PITCH_MAX,3700
$C_PITCH,3120
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,294
$ROLL_MAX,3598
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,588
$VBD_MAX,3951
$C_VBD,3058
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-21.817678
$PRESSURE_SLOPE,0.0001161151
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,1.8
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,64
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043387706
$SEABIRD_T_H,0.00063929392
$SEABIRD_T_I,2.2459495e-05
$SEABIRD_T_J,2.0328812e-06
$SEABIRD_C_G,-10.121161
$SEABIRD_C_H,1.1529624
$SEABIRD_C_I,-0.002153415
$SEABIRD_C_J,0.0002365096
$GPS1,033107,6710.001,-5708.433,8,1.6,9,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-76.6
$GPS2,033632,6710.004,-5708.430,14,1.6,14,-37.8
$SPEED_LIMITS,0.173,0.263
$TGT_NAME,TARGET_tst
$TGT_LATLONG,6700.000,-5702.000
$TGT_RADIUS,2000.000
$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,203.7,19103,-18.1,-10.000
$D_GRID,539
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,17,-0.78,-146.1,0.0,0.0,0,89,0.00,0.00,-68.93,0.000,2,0.000,0.000,337,2265,3338,0,0,0,0,0,0
$GC,92,-0.78,-146.1,3.4,-2.5,14,119,10.50,2.33,-8.20,0.000,4,0.251,0.071,2948,847,3659,0,0,0,0,0,0
$GC,423,-0.78,-146.1,40.1,-9.9,73,429,0.00,2.25,0.00,0.000,6,0.000,0.058,2941,2243,3664,0,0,0,0,0,0
$GC,768,-0.78,-146.1,72.6,-8.9,134,773,0.00,2.22,0.00,0.000,4,0.000,0.057,2941,840,3664,0,0,0,0,0,0
$GC,797,-0.78,-146.1,75.3,-9.3,139,803,0.00,2.28,0.00,0.000,6,0.000,0.059,2931,2254,3664,0,0,0,0,0,0
$GC,1138,-0.78,-146.1,105.1,-9.0,195,1139,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2254,3664,0,0,0,0,0,0
$GC,1462,-0.78,-146.1,132.1,-7.7,225,1467,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2254,3663,0,0,0,0,0,0
$GC,1790,-0.78,-146.1,159.5,-8.7,256,1795,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2254,3663,0,0,0,0,0,0
$GC,2115,-0.78,-146.1,187.4,-8.0,287,2116,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2254,3662,0,0,0,0,0,0
$GC,2434,-0.78,-146.1,214.1,-8.6,317,2438,0.00,2.08,0.00,0.000,4,0.000,0.070,2921,3594,3662,0,0,0,0,0,0
$GC,2445,-0.78,-146.1,215.1,-8.5,317,2451,0.10,2.08,0.00,0.000,6,0.168,0.048,2947,2238,3662,0,0,0,0,0,0
$GC,2770,-0.78,-146.1,239.1,-7.1,348,2774,0.00,2.12,0.00,0.000,4,0.000,0.057,2947,841,3662,0,0,0,0,0,0
$GC,2798,-0.78,-146.1,241.4,-7.9,350,2802,0.00,2.25,0.00,0.000,6,0.000,0.059,2939,2261,3661,0,0,0,0,0,0
$GC,3124,-0.78,-146.1,264.8,-7.1,380,3125,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2261,3662,0,0,0,0,0,0
$GC,3442,-0.78,-146.1,285.9,-6.2,410,3443,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2261,3662,0,0,0,0,0,0
$GC,3761,-0.78,-146.1,305.9,-6.1,440,3764,0.00,2.20,0.00,0.000,4,0.000,0.056,2939,849,3662,0,0,0,0,0,0
$GC,3775,-0.78,-146.1,306.6,-5.9,441,3779,0.00,2.22,0.00,0.000,6,0.000,0.058,2930,2258,3662,0,0,0,0,0,0
$GC,4101,-0.78,-146.1,327.4,-6.6,471,4102,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2258,3662,0,0,0,0,0,0
$GC,4418,-0.78,-146.1,347.6,-6.4,501,4419,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2258,3663,0,0,0,0,0,0
$GC,4737,-0.78,-146.1,369.6,-7.5,531,4738,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2258,3663,0,0,0,0,0,0
$GC,5058,-0.78,-146.1,394.3,-8.2,561,5063,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2258,3664,0,0,0,0,0,0
$GC,5386,-0.78,-146.1,420.2,-7.6,592,5387,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2258,3664,0,0,0,0,0,0
$GC,5704,-0.78,-146.1,443.4,-7.3,622,5708,0.00,2.17,0.00,0.000,4,0.000,0.054,2930,838,3665,0,0,0,0,0,0
$GC,5716,-0.78,-146.1,444.3,-7.0,623,5721,0.12,2.22,0.00,0.000,6,0.150,0.057,2957,2257,3665,0,0,0,0,0,0
$GC,6042,-0.78,-146.1,462.9,-5.2,653,6043,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2256,3665,0,0,0,0,0,0
$GC,6362,-0.78,-146.1,480.5,-5.3,683,6366,0.00,2.08,0.00,0.000,4,0.000,0.068,2949,3597,3665,0,0,0,0,0,0
$GC,6374,-0.78,-146.1,481.3,-5.5,684,6378,0.00,2.03,0.00,0.000,6,0.000,0.046,2949,2239,3665,0,0,0,0,0,0
$GC,6709,-0.78,-146.1,500.1,-6.2,715,6714,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2238,3666,0,0,0,0,0,0
$GC,7037,-0.78,-146.1,518.9,-6.1,746,7042,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2238,3666,0,0,0,0,0,0
$STATE,7351,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7351,begin apogee
$GC,7358,-0.17,0.0,539.3,6.6,776,7484,0.40,0.00,121.03,1.162,6,0.117,0.000,3086,2148,3058,0,0,0,0,0,0
$STATE,7485,end apogee,CONTROL_FINISHED_OK
$STATE,7485,begin climb
$GC,7488,0.78,146.1,541.6,0.0,789,7622,0.57,2.42,120.78,1.106,4,0.068,0.054,3304,745,2461,0,0,0,0,0,0
$GC,7662,0.78,146.1,527.2,11.8,805,7667,0.00,2.38,0.00,0.000,6,0.000,0.054,3304,2155,2460,0,0,0,0,0,0
$GC,7986,0.78,146.1,489.1,11.9,836,7990,0.00,2.28,0.00,0.000,4,0.000,0.065,3304,3573,2457,0,0,0,0,0,0
$GC,8134,0.78,146.1,468.9,13.6,848,8140,0.10,2.22,0.00,0.000,6,0.187,0.046,3291,2145,2455,0,0,0,0,0,0
$GC,8459,0.78,146.1,431.9,11.5,879,8460,0.00,0.00,0.00,0.000,6,0.000,0.000,3291,2144,2455,0,0,0,0,0,0
$GC,8780,0.78,146.1,394.9,11.5,909,8784,0.00,2.28,0.00,0.000,4,0.000,0.065,3291,3565,2455,0,0,0,0,0,0
$GC,8836,0.78,146.1,387.5,13.4,914,8840,0.00,2.20,0.00,0.000,6,0.000,0.047,3299,2142,2455,0,0,0,0,0,0
$GC,9161,0.78,146.1,348.8,11.8,944,9162,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,2141,2455,0,0,0,0,0,0
$GC,9482,0.78,146.1,310.2,12.1,974,9483,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,2141,2454,0,0,0,0,0,0
$GC,9801,0.78,146.1,272.5,11.5,1004,9805,0.00,2.25,0.00,0.000,4,0.000,0.066,3298,3572,2455,0,0,0,0,0,0
$GC,9891,0.78,146.1,260.6,13.6,1012,9895,0.00,2.17,0.00,0.000,6,0.000,0.047,3309,2145,2454,0,0,0,0,0,0
$GC,10221,0.78,146.1,222.8,10.8,1043,10222,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2145,2454,0,0,0,0,0,0
$GC,10542,0.78,146.1,189.2,10.5,1073,10543,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2145,2455,0,0,0,0,0,0
$GC,10860,0.80,158.0,158.0,9.5,1103,10872,0.00,0.00,10.02,0.854,6,0.000,0.000,3309,2144,2413,0,0,0,0,0,0
$GC,11187,0.81,165.0,126.2,9.7,1134,11196,0.00,0.00,6.97,0.771,6,0.000,0.000,3308,2143,2385,0,0,0,0,0,0
$GC,11518,0.82,177.3,93.9,9.4,1170,11535,0.00,2.28,11.32,0.831,4,0.000,0.065,3309,3562,2334,0,0,0,0,0,0
$GC,11576,0.82,177.3,87.7,11.9,1180,11581,0.00,2.20,0.00,0.000,6,0.000,0.047,3318,2139,2332,0,0,0,0,0,0
$GC,11919,0.84,195.0,52.5,9.2,1241,11941,0.00,2.20,14.98,0.838,4,0.000,0.057,3329,744,2263,0,0,0,0,0,0
$GC,12009,0.84,195.0,43.1,10.5,1257,12016,0.10,2.28,0.00,0.000,6,0.170,0.058,3304,2163,2261,0,0,0,0,0,0
$GC,12353,0.92,256.2,14.1,7.2,1318,12410,0.00,2.30,49.75,0.852,4,0.000,0.069,3304,3560,2011,0,0,0,0,0,0
$FREEZE,8.85,1.481,-1.830,0,1,0
$FREEZE,8.34,1.580,-1.826,0,1,0
$FREEZE,7.69,1.585,-1.822,0,1,0
$FREEZE,7.10,1.558,-1.818,0,1,0
$FREEZE,6.56,1.543,-1.814,0,1,0
$FREEZE,6.12,1.489,-1.810,0,1,0
$FREEZE,5.50,1.469,-1.806,0,1,0
$FREEZE,4.92,1.487,-1.805,0,1,0
$FREEZE,4.44,1.502,-1.799,0,1,0
$FREEZE,3.91,1.382,-1.797,0,1,0
$FREEZE,3.38,1.317,-1.792,0,1,0
$GC,12474,0.92,261.7,3.9,9.8,1340,12487,0.00,2.25,4.07,0.550,6,0.000,0.048,3310,2145,1991,0,0,0,0,0,0
$FREEZE,2.41,1.237,-1.788,0,1,0
$STATE,12491,end climb,SURFACE_DEPTH_REACHED
$STATE,12491,begin surface coast
$FREEZE,2.00,1.233,-1.788,0,1,0
$FREEZE,1.68,1.230,-1.787,0,1,0
$FREEZE,1.25,1.229,-1.786,0,1,0
$FREEZE,1.28,1.261,-0.750,0,1,0
$FREEZE,1.26,1.234,-0.876,0,1,0
$FREEZE,1.38,1.237,-1.788,0,1,0
$FREEZE,1.26,1.230,-1.082,0,1,0
$FINISH,1.3,1.015963
$STATE,12534,end surface coast,CONTROL_FINISHED_OK
$STATE,12534,begin surface
$SM_CCo,12554,30.98,0.815,0,0,1835,300.00
$SM_GC,2.22,0.00,0.00,30.98,0.000,0.000,0.815,341,2257,1835,-12.78,0.20,300.00
$RAFOS_CLK,469
$RAFOS,6,1276318142,4.833333,4.817222,95,77,45,44,44,39,793,794,1116,1439,1461,1351
$RAFOS,5,1276317664,4.700000,4.684444,125,116,48,43,40,39,634,633,1333,1618,1858,146
$RAFOS,4,1276317188,4.566667,4.552222,72,70,53,44,43,42,833,834,248,1302,358,372
$RAFOS,3,1276316710,4.433333,4.419445,46,43,41,41,41,41,863,351,521,1107,1270,1106
$RAFOS,2,1276316222,4.300000,4.283889,51,47,43,41,40,40,1232,337,1492,61,680,1743
$RAFOS,1,1276315744,4.166667,4.151111,46,45,44,44,42,42,1472,1512,245,506,1690,1784
$RAFOS,0,1276315266,4.033333,4.018333,48,47,43,42,41,40,1244,256,950,1403,1556,1903
$RAFOS_FIX,6710.361328,-5711.636230,120610,040401,3,97,0.60
$IRIDIUM_FIX,6641.98,-5709.24,060999,010151
$TT8_MAMPS,0.027612
$HUMID,39.25
$INTERNAL_PRESSURE,10.2348
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.5
$ALTIM_BOTTOM_PING,500.1,56.9
$24V_AH,23.6,6.443
$10V_AH,10.4,3.150
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$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,20.000,62.525,338.925,30.975,0.000,31.170,36.242,127.923,2.000,0.000,15.551,2191.035,7747.704,442.204,2026.592,513.140,0.000,1479.892,0.000,2008.397,2520.000,17.069,0.000
$DEVICE_MAMPS,250.809,103.545,1162.005,814.554,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,988.408,945.309,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135796
$DATA_FILE_SIZE,53631,1350
$CAP_FILE_SIZE,129401,0
$CFSIZE,260165632,246824960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.7
$GPS,120610,070806,6708.456,-5708.687,29,1.1,29,-37.7