version: 66.06
glider: 108
mission: 14
dive: 33
start: 6 12 110 15 28 0
data:
$ID,108
$MISSION,14
$DIVE,33
$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,-179441.28
$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,38
$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,3
$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
$GPS1,151306,6705.830,-5707.432,36,1.6,36,-37.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-77.1
$GPS2,152738,6705.783,-5707.369,11,1.0,11,-37.7
$SPEED_LIMITS,0.173,0.263
$TGT_NAME,TARGET_test
$TGT_LATLONG,6700.000,-5705.000
$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,208.6,10847,-18.1,-10.000
$D_GRID,627
$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,16,-0.78,-146.1,0.0,0.0,0,72,0.00,0.00,-54.67,0.000,2,0.000,0.000,336,2269,2956,0,0,0,0,0,0
$GC,76,-0.78,-146.1,3.0,-1.5,11,117,10.40,2.38,-21.38,0.000,4,0.248,0.073,2939,838,3658,0,0,0,0,0,0
$GC,424,-0.78,-146.1,42.5,-10.5,73,429,0.00,2.28,0.00,0.000,6,0.000,0.061,2932,2239,3662,0,0,0,0,0,0
$GC,769,-0.78,-146.1,75.8,-9.5,134,774,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2239,3661,0,0,0,0,0,0
$GC,1108,-0.78,-146.1,106.8,-9.1,188,1111,0.00,2.15,0.00,0.000,4,0.000,0.072,2922,3594,3661,0,0,0,0,0,0
$GC,1120,-0.78,-146.1,107.9,-9.3,189,1125,0.10,2.10,0.00,0.000,6,0.172,0.050,2947,2242,3661,0,0,0,0,0,0
$GC,1445,-0.78,-146.1,133.3,-7.7,219,1446,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2242,3661,0,0,0,0,0,0
$GC,1766,-0.78,-146.1,159.6,-8.3,249,1770,0.00,2.15,0.00,0.000,4,0.000,0.060,2947,846,3661,0,0,0,0,0,0
$GC,1777,-0.78,-146.1,160.7,-8.1,249,1783,0.00,2.25,0.00,0.000,6,0.000,0.061,2940,2260,3661,0,0,0,0,0,0
$GC,2102,-0.78,-146.1,188.2,-8.2,280,2106,0.00,2.25,0.00,0.000,4,0.000,0.060,2940,834,3661,0,0,0,0,0,0
$GC,2114,-0.78,-146.1,189.1,-7.9,280,2119,0.00,2.25,0.00,0.000,6,0.000,0.062,2930,2250,3661,0,0,0,0,0,0
$GC,2439,-0.78,-146.1,214.0,-7.1,311,2440,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2250,3660,0,0,0,0,0,0
$GC,2759,-0.78,-146.1,235.4,-6.1,341,2760,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2250,3660,0,0,0,0,0,0
$GC,3075,-0.78,-146.1,255.8,-6.5,371,3077,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2249,3661,0,0,0,0,0,0
$GC,3394,-0.78,-146.1,277.5,-7.1,401,3395,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2249,3661,0,0,0,0,0,0
$GC,3713,-0.78,-146.1,301.1,-7.9,431,3714,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2249,3661,0,0,0,0,0,0
$GC,4032,-0.78,-146.1,325.9,-7.6,461,4033,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2249,3662,0,0,0,0,0,0
$GC,4351,-0.78,-146.1,350.6,-7.9,491,4352,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2249,3663,0,0,0,0,0,0
$GC,4671,-0.78,-146.1,375.3,-7.5,521,4675,0.00,2.08,0.00,0.000,4,0.000,0.071,2920,3596,3663,0,0,0,0,0,0
$GC,4682,-0.78,-146.1,376.4,-7.4,521,4688,0.12,2.05,0.00,0.000,6,0.153,0.047,2956,2243,3663,0,0,0,0,0,0
$GC,5007,-0.78,-146.1,396.2,-6.0,552,5008,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2242,3664,0,0,0,0,0,0
$GC,5326,-0.78,-146.1,414.5,-5.6,582,5327,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2242,3665,0,0,0,0,0,0
$GC,5646,-0.78,-146.1,431.4,-5.0,612,5650,0.00,2.12,0.00,0.000,4,0.000,0.055,2956,848,3665,0,0,0,0,0,0
$GC,5670,-0.78,-146.1,432.7,-5.5,614,5674,0.00,2.20,0.00,0.000,6,0.000,0.058,2949,2252,3666,0,0,0,0,0,0
$GC,6000,-0.78,-146.1,450.0,-5.5,645,6001,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2252,3666,0,0,0,0,0,0
$GC,6321,-0.78,-146.1,467.3,-5.6,675,6322,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2252,3666,0,0,0,0,0,0
$GC,6640,-0.78,-146.1,486.0,-6.3,705,6644,0.00,2.08,0.00,0.000,4,0.000,0.067,2939,3596,3667,0,0,0,0,0,0
$GC,6652,-0.78,-146.1,486.8,-6.0,706,6656,0.00,2.03,0.00,0.000,6,0.000,0.044,2939,2235,3667,0,0,0,0,0,0
$GC,6983,-0.78,-146.1,507.7,-6.2,737,6984,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2234,3668,0,0,0,0,0,0
$GC,7304,-0.78,-146.1,527.2,-6.3,767,7305,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2234,3669,0,0,0,0,0,0
$GC,7622,-0.78,-146.1,546.2,-6.1,797,7626,0.00,2.10,0.00,0.000,4,0.000,0.054,2939,849,3669,0,0,0,0,0,0
$GC,7634,-0.78,-146.1,547.0,-6.1,798,7639,0.00,2.20,0.00,0.000,6,0.000,0.057,2929,2257,3669,0,0,0,0,0,0
$GC,7960,-0.78,-146.1,567.2,-6.5,828,7961,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2257,3669,0,0,0,0,0,0
$GC,8280,-0.78,-146.1,588.8,-7.2,858,8282,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2257,3670,0,0,0,0,0,0
$GC,8592,-0.78,-146.1,611.7,-7.3,878,8596,0.00,2.08,0.00,0.000,4,0.000,0.068,2919,3601,3670,0,0,0,0,0,0
$GC,8603,-0.78,-146.1,612.7,-7.3,878,8607,0.12,2.03,0.00,0.000,6,0.151,0.046,2955,2239,3669,0,0,0,0,0,0
$STATE,8831,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8831,begin apogee
$GC,8838,-0.17,0.0,627.5,6.6,886,8965,0.40,0.00,123.57,1.223,6,0.113,0.000,3092,2151,3058,0,0,0,0,0,0
$STATE,8966,end apogee,CONTROL_FINISHED_OK
$STATE,8966,begin climb
$GC,8969,0.78,146.1,631.0,0.0,890,9101,0.60,2.47,122.28,1.163,4,0.063,0.064,3304,3579,2461,0,0,0,0,0,0
$GC,9151,0.78,146.1,616.5,13.7,896,9156,0.10,2.33,0.00,0.000,6,0.179,0.046,3292,2146,2457,0,0,0,0,0,0
$GC,9473,0.78,146.1,584.3,10.4,916,9474,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,2146,2455,0,0,0,0,0,0
$GC,9794,0.78,146.1,550.4,10.9,946,9798,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,2146,2454,0,0,0,0,0,0
$GC,10121,0.78,146.1,514.0,11.1,977,10122,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,2146,2453,0,0,0,0,0,0
$GC,10440,0.78,146.1,478.8,10.5,1007,10444,0.00,2.28,0.00,0.000,4,0.000,0.067,3292,3566,2452,0,0,0,0,0,0
$GC,10501,0.78,146.1,470.9,13.0,1012,10506,0.00,2.20,0.00,0.000,6,0.000,0.048,3300,2137,2452,0,0,0,0,0,0
$GC,10832,0.78,146.1,431.9,12.0,1043,10836,0.00,2.17,0.00,0.000,4,0.000,0.057,3311,736,2452,0,0,0,0,0,0
$GC,10882,0.78,146.1,425.9,12.1,1047,10887,0.00,2.25,0.00,0.000,6,0.000,0.058,3311,2153,2451,0,0,0,0,0,0
$GC,11213,0.78,146.1,384.9,12.5,1078,11217,0.00,2.20,0.00,0.000,4,0.000,0.068,3311,3559,2451,0,0,0,0,0,0
$GC,11325,0.78,146.1,368.8,14.6,1087,11331,0.12,2.17,0.00,0.000,6,0.178,0.048,3288,2143,2451,0,0,0,0,0,0
$GC,11649,0.78,146.1,334.3,10.6,1118,11653,0.00,2.15,0.00,0.000,4,0.000,0.057,3297,741,2452,0,0,0,0,0,0
$GC,11696,0.78,146.1,329.4,10.7,1122,11700,0.00,2.25,0.00,0.000,6,0.000,0.058,3296,2162,2452,0,0,0,0,0,0
$GC,12021,0.78,148.1,294.6,9.9,1152,12025,0.00,2.17,0.00,0.000,4,0.000,0.068,3297,3558,2452,0,0,0,0,0,0
$GC,12151,0.78,148.1,278.3,13.3,1163,12155,0.00,2.15,0.00,0.000,6,0.000,0.048,3306,2150,2452,0,0,0,0,0,0
$GC,12476,0.78,148.1,242.3,11.1,1193,12480,0.00,2.20,0.00,0.000,4,0.000,0.057,3317,733,2453,0,0,0,0,0,0
$GC,12543,0.78,148.1,234.7,10.7,1198,12549,0.12,2.25,0.00,0.000,6,0.166,0.057,3283,2159,2453,0,0,0,0,0,0
$GC,12868,0.82,176.0,206.1,8.7,1229,12899,0.00,2.25,23.38,0.951,4,0.000,0.067,3283,3551,2339,0,0,0,0,0,0
$GC,12995,0.82,176.0,192.6,11.9,1240,13000,0.00,2.17,0.00,0.000,6,0.000,0.047,3291,2145,2336,0,0,0,0,0,0
$GC,13320,0.82,176.0,159.8,10.0,1271,13324,0.00,2.17,0.00,0.000,4,0.000,0.057,3300,744,2336,0,0,0,0,0,0
$GC,13382,0.82,176.0,153.4,10.1,1276,13387,0.00,2.25,0.00,0.000,6,0.000,0.057,3300,2156,2336,0,0,0,0,0,0
$GC,13708,0.84,194.7,122.0,9.1,1306,13729,0.00,2.22,15.75,0.879,4,0.000,0.066,3300,3570,2263,0,0,0,0,0,0
$GC,13809,0.84,194.7,111.1,10.8,1315,13813,0.00,2.20,0.00,0.000,6,0.000,0.047,3309,2152,2259,0,0,0,0,0,0
$GC,14147,0.87,214.6,78.6,9.1,1365,14168,0.00,2.30,16.83,0.862,4,0.000,0.058,3320,734,2183,0,0,0,0,0,0
$GC,14236,0.87,214.6,70.0,10.4,1381,14242,0.00,2.30,0.00,0.000,6,0.000,0.058,3320,2156,2181,0,0,0,0,0,0
$GC,14582,0.87,214.6,34.1,11.1,1442,14587,0.00,2.20,0.00,0.000,4,0.000,0.071,3320,3557,2178,0,0,0,0,0,0
$GC,14678,0.87,214.6,22.3,11.6,1459,14684,0.00,2.20,0.00,0.000,6,0.000,0.049,3330,2143,2176,0,0,0,0,0,0
$FREEZE,8.90,-0.898,-1.769,0,1,0
$FREEZE,8.45,-0.905,-1.767,0,1,0
$FREEZE,8.01,-0.963,-1.765,0,1,0
$FREEZE,7.74,-1.050,-1.763,0,1,0
$FREEZE,7.26,-1.118,-1.760,0,1,0
$FREEZE,6.91,-1.158,-1.758,0,1,0
$FREEZE,6.61,-1.204,-1.758,0,1,0
$FREEZE,6.16,-1.228,-1.753,0,1,0
$FREEZE,5.72,-1.242,-1.749,0,1,0
$FREEZE,5.38,-1.217,-1.746,0,1,0
$FREEZE,4.92,-1.255,-1.744,0,1,0
$FREEZE,4.55,-1.257,-1.742,0,1,0
$FREEZE,4.35,-1.194,-1.739,0,1,0
$FREEZE,3.94,-1.064,-1.734,0,1,0
$FREEZE,3.68,-0.913,-1.728,0,1,0
$FREEZE,3.37,-0.738,-1.724,0,1,0
$FREEZE,3.04,-0.634,-1.722,0,1,0
$FREEZE,2.77,-0.600,-1.722,0,1,0
$STATE,14908,end climb,SURFACE_DEPTH_REACHED
$STATE,14908,begin surface coast
$FREEZE,2.49,-0.587,-1.723,0,1,0
$FREEZE,2.17,-0.550,-1.722,0,1,0
$FREEZE,1.94,-0.548,-1.723,0,1,0
$FREEZE,1.63,-0.546,-1.723,0,1,0
$FREEZE,1.38,-0.542,-1.685,0,1,0
$FREEZE,1.40,-0.417,-0.384,0,1,0
$FREEZE,1.47,-0.357,-0.847,0,1,0
$FREEZE,1.41,-0.509,-1.703,0,1,0
$FREEZE,1.43,-0.520,-1.722,0,1,0
$FREEZE,1.33,-0.496,-0.883,0,1,0
$FREEZE,1.45,-0.462,-0.629,0,1,0
$FREEZE,1.32,-0.523,-0.526,0,1,0
$FINISH,1.3,1.007668
$STATE,14977,end surface coast,CONTROL_FINISHED_OK
$STATE,14977,begin surface
$SM_CCo,14996,67.80,0.858,0,0,1835,300.00
$SM_GC,2.31,0.00,0.00,67.80,0.000,0.000,0.858,340,2265,1835,-12.79,0.42,300.00
$RAFOS_CLK,585
$RAFOS,6,1276361346,16.833334,16.818333,95,91,44,44,41,40,785,784,308,1886,309,1
$RAFOS,5,1276360870,16.700001,16.686111,123,121,46,43,42,39,594,593,1688,1777,385,1497
$RAFOS,4,1276360392,16.566668,16.553333,50,49,46,45,45,42,746,1409,1615,436,807,543
$RAFOS,3,1276359903,16.433332,16.417500,44,43,41,41,40,40,1204,1013,1205,392,926,260
$RAFOS,2,1276359425,16.299999,16.284721,52,48,44,42,41,41,1402,1836,1918,1503,1,417
$RAFOS,1,1276358948,16.166666,16.152222,44,44,42,42,42,41,61,988,1051,283,639,1565
$RAFOS,0,1276358463,16.033333,16.017500,45,45,45,45,42,40,456,915,1043,763,151,1231
$RAFOS_FIX,6707.150879,-5709.774414,120610,161656,2,109,0.65
$IRIDIUM_FIX,6641.98,-5709.24,060999,151514
$TT8_MAMPS,0.026845
$HUMID,38.81
$INTERNAL_PRESSURE,10.2152
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.2
$24V_AH,23.6,6.847
$10V_AH,10.3,3.404
$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,20.000,92.575,301.800,67.800,0.000,85.422,97.473,397.529,2.250,0.000,13.288,2511.797,9627.488,468.972,2358.487,966.594,0.000,1655.357,0.000,2333.952,2520.000,20.062,0.000
$DEVICE_MAMPS,247.741,105.846,1223.365,858.273,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1105.838,1062.849,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135720
$DATA_FILE_SIZE,59763,1512
$CAP_FILE_SIZE,163145,0
$CFSIZE,260165632,246550528
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.1
$GPS,120610,194057,6703.615,-5706.817,32,2.1,51,-37.6