version: 66.06
glider: 108
mission: 14
dive: 45
start: 6 14 110 16 44 18
data:
$ID,108
$MISSION,14
$DIVE,45
$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,225
$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,-179625.86
$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,3112
$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,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,27
$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
$GPS1,163724,6703.407,-5653.669,23,1.0,40,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-76.3
$GPS2,164356,6703.446,-5653.787,12,2.0,12,-37.6
$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,269.4,10323,-18.1,-10.000
$D_GRID,588
$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,-146.1,0.0,0.0,0,67,0.00,0.00,-49.53,0.000,2,0.000,0.000,344,2260,2903,0,0,0,0,0,0
$GC,71,-0.78,-146.1,3.1,-2.4,10,123,10.10,2.35,-32.05,0.000,4,0.236,0.071,2940,839,3656,0,0,0,0,0,0
$GC,377,-0.78,-146.1,29.2,-10.5,65,383,0.00,2.30,0.00,0.000,6,0.000,0.061,2933,2262,3659,0,0,0,0,0,0
$GC,721,-0.78,-146.1,63.2,-9.4,126,726,0.00,2.25,0.00,0.000,4,0.000,0.057,2933,844,3660,0,0,0,0,0,0
$GC,840,-0.78,-146.1,73.8,-9.5,147,845,0.00,2.28,0.00,0.000,6,0.000,0.061,2923,2258,3660,0,0,0,0,0,0
$GC,1180,-0.78,-146.1,107.9,-9.8,201,1183,0.00,2.10,0.00,0.000,4,0.000,0.071,2913,3597,3661,0,0,0,0,0,0
$GC,1260,-0.78,-146.1,116.7,-10.4,208,1265,0.12,2.10,0.00,0.000,6,0.160,0.049,2947,2242,3661,0,0,0,0,0,0
$GC,1586,-0.78,-146.1,142.2,-7.3,238,1590,0.00,2.17,0.00,0.000,4,0.000,0.060,2947,839,3661,0,0,0,0,0,0
$GC,1643,-0.78,-146.1,146.6,-8.2,243,1647,0.00,2.25,0.00,0.000,6,0.000,0.061,2940,2259,3660,0,0,0,0,0,0
$GC,1968,-0.78,-146.1,173.5,-8.6,273,1969,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2258,3661,0,0,0,0,0,0
$GC,2289,-0.78,-146.1,198.5,-7.5,303,2290,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2258,3660,0,0,0,0,0,0
$GC,2607,-0.78,-146.1,222.3,-7.7,333,2612,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2258,3660,0,0,0,0,0,0
$GC,2935,-0.78,-146.1,247.2,-7.6,364,2936,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2258,3660,0,0,0,0,0,0
$GC,3253,-0.78,-146.1,270.8,-7.3,394,3257,0.00,2.20,0.00,0.000,4,0.000,0.057,2939,835,3659,0,0,0,0,0,0
$GC,3304,-0.78,-146.1,274.9,-7.9,398,3309,0.00,2.25,0.00,0.000,6,0.000,0.061,2931,2251,3659,0,0,0,0,0,0
$GC,3630,-0.78,-146.1,299.6,-7.7,428,3634,0.00,2.20,0.00,0.000,4,0.000,0.058,2930,844,3659,0,0,0,0,0,0
$GC,3657,-0.78,-146.1,302.0,-8.1,430,3663,0.10,2.25,0.00,0.000,6,0.159,0.061,2948,2261,3659,0,0,0,0,0,0
$GC,3982,-0.78,-146.1,323.6,-6.4,461,3986,0.00,2.10,0.00,0.000,4,0.000,0.072,2940,3602,3660,0,0,0,0,0,0
$GC,4039,-0.78,-146.1,327.8,-7.3,466,4044,0.00,2.10,0.00,0.000,6,0.000,0.049,2940,2224,3660,0,0,0,0,0,0
$GC,4371,-0.78,-146.1,350.5,-7.0,497,4375,0.00,2.12,0.00,0.000,4,0.000,0.059,2940,831,3660,0,0,0,0,0,0
$GC,4428,-0.78,-146.1,354.8,-7.4,502,4432,0.00,2.25,0.00,0.000,6,0.000,0.060,2930,2252,3660,0,0,0,0,0,0
$GC,4754,-0.78,-146.1,378.9,-7.5,532,4755,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2252,3660,0,0,0,0,0,0
$GC,5074,-0.78,-146.1,402.1,-7.2,562,5078,0.00,2.10,0.00,0.000,4,0.000,0.071,2920,3596,3660,0,0,0,0,0,0
$GC,5114,-0.78,-146.1,405.6,-8.5,565,5120,0.10,2.05,0.00,0.000,6,0.158,0.048,2947,2244,3660,0,0,0,0,0,0
$GC,5439,-0.78,-146.1,427.1,-6.4,596,5443,0.00,2.15,0.00,0.000,4,0.000,0.057,2947,839,3661,0,0,0,0,0,0
$GC,5479,-0.78,-146.1,429.7,-6.9,599,5483,0.00,2.22,0.00,0.000,6,0.000,0.059,2940,2251,3661,0,0,0,0,0,0
$GC,5804,-0.78,-146.1,452.1,-7.0,629,5808,0.00,2.12,0.00,0.000,4,0.000,0.071,2930,3598,3661,0,0,0,0,0,0
$GC,5854,-0.78,-146.1,456.0,-7.9,633,5861,0.00,2.05,0.00,0.000,6,0.000,0.047,2929,2248,3661,0,0,0,0,0,0
$GC,6179,-0.78,-146.1,480.2,-6.9,664,6183,0.00,2.12,0.00,0.000,4,0.000,0.057,2930,844,3661,0,0,0,0,0,0
$GC,6220,-0.78,-146.1,483.4,-8.0,667,6225,0.10,2.22,0.00,0.000,6,0.155,0.059,2948,2258,3661,0,0,0,0,0,0
$GC,6545,-0.78,-146.1,502.9,-5.5,697,6549,0.00,2.08,0.00,0.000,4,0.000,0.070,2941,3591,3662,0,0,0,0,0,0
$GC,6574,-0.78,-146.1,504.8,-6.7,699,6579,0.00,2.05,0.00,0.000,6,0.000,0.047,2940,2238,3662,0,0,0,0,0,0
$GC,6899,-0.78,-146.1,526.4,-7.1,730,6902,0.00,2.12,0.00,0.000,4,0.000,0.057,2940,849,3662,0,0,0,0,0,0
$GC,6938,-0.78,-146.1,529.3,-6.9,733,6944,0.00,2.17,0.00,0.000,6,0.000,0.058,2931,2249,3662,0,0,0,0,0,0
$GC,7263,-0.78,-146.1,553.7,-7.3,764,7264,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2249,3662,0,0,0,0,0,0
$STATE,7560,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7560,begin apogee
$GC,7567,-0.17,0.0,574.5,7.0,792,7693,0.43,0.00,120.15,1.184,6,0.117,0.000,3077,2249,3057,0,0,0,0,0,0
$STATE,7694,end apogee,CONTROL_FINISHED_OK
$STATE,7694,begin climb
$GC,7696,0.78,146.1,576.8,0.0,805,7831,0.60,2.55,120.97,1.124,4,0.075,0.054,3298,794,2462,0,0,0,0,0,0
$GC,7866,0.78,146.1,563.8,10.9,821,7870,0.00,2.40,0.00,0.000,6,0.000,0.056,3299,2210,2461,0,0,0,0,0,0
$GC,8191,0.78,146.1,528.3,11.2,851,8195,0.00,2.25,0.00,0.000,4,0.000,0.067,3299,3601,2458,0,0,0,0,0,0
$GC,8269,0.78,146.1,518.3,13.1,857,8275,0.12,2.20,0.00,0.000,6,0.173,0.046,3277,2204,2457,0,0,0,0,0,0
$GC,8594,0.79,151.7,485.4,9.7,888,8603,0.00,0.00,5.25,0.813,6,0.000,0.000,3277,2203,2439,0,0,0,0,0,0
$GC,8923,0.80,160.6,453.9,9.6,919,8933,0.00,0.00,8.77,0.954,6,0.000,0.000,3277,2203,2403,0,0,0,0,0,0
$GC,9251,0.81,169.1,422.0,9.6,950,9262,0.00,0.00,8.70,0.940,6,0.000,0.000,3277,2202,2368,0,0,0,0,0,0
$GC,9580,0.83,182.1,390.0,9.4,981,9594,0.00,0.00,11.82,0.978,6,0.000,0.000,3277,2203,2315,0,0,0,0,0,0
$GC,9908,0.83,182.1,357.0,10.2,1012,9910,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,2202,2314,0,0,0,0,0,0
$GC,10230,0.83,182.1,324.2,10.3,1042,10231,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,2203,2314,0,0,0,0,0,0
$GC,10547,0.83,182.1,291.5,10.5,1072,10551,0.00,2.17,0.00,0.000,4,0.000,0.055,3284,795,2314,0,0,0,0,0,0
$GC,10580,0.83,182.1,287.8,10.3,1074,10586,0.00,2.25,0.00,0.000,6,0.000,0.055,3284,2212,2314,0,0,0,0,0,0
$GC,10905,0.83,182.1,253.7,10.6,1105,10909,0.00,2.17,0.00,0.000,4,0.000,0.069,3283,3596,2314,0,0,0,0,0,0
$GC,10983,0.83,182.1,244.0,13.0,1111,10989,0.00,2.15,0.00,0.000,6,0.000,0.048,3293,2198,2313,0,0,0,0,0,0
$GC,11308,0.83,182.1,209.9,10.2,1142,11312,0.00,2.17,0.00,0.000,4,0.000,0.056,3301,784,2313,0,0,0,0,0,0
$GC,11348,0.83,188.4,205.8,9.7,1145,11360,0.00,2.25,6.40,0.788,6,0.000,0.056,3301,2206,2289,0,0,0,0,0,0
$GC,11678,0.83,188.4,171.6,10.6,1176,11682,0.00,2.17,0.00,0.000,4,0.000,0.068,3301,3595,2289,0,0,0,0,0,0
$GC,11729,0.83,188.4,165.7,12.3,1180,11734,0.00,2.15,0.00,0.000,6,0.000,0.048,3311,2191,2289,0,0,0,0,0,0
$GC,12054,0.84,194.3,131.8,9.7,1210,12066,0.00,2.22,6.60,0.772,4,0.000,0.057,3321,793,2265,0,0,0,0,0,0
$GC,12094,0.84,196.7,127.7,9.9,1213,12104,0.10,2.25,3.53,0.547,6,0.171,0.058,3296,2207,2255,0,0,0,0,0,0
$GC,12424,0.90,239.8,98.9,8.0,1245,12466,0.00,2.25,35.67,0.896,4,0.000,0.067,3296,3594,2079,0,0,0,0,0,0
$GC,12507,0.90,239.8,91.6,10.5,1260,12512,0.00,2.20,0.00,0.000,6,0.000,0.047,3303,2198,2074,0,0,0,0,0,0
$GC,12855,0.91,251.0,57.6,9.5,1321,12871,0.00,2.25,9.23,0.780,4,0.000,0.058,3312,800,2034,0,0,0,0,0,0
$GC,12911,0.92,257.5,51.6,9.7,1331,12927,0.00,2.28,6.97,0.721,6,0.000,0.058,3312,2205,2007,0,0,0,0,0,0
$GC,13265,0.94,271.0,20.0,9.4,1394,13286,0.00,2.30,11.95,0.794,4,0.000,0.071,3312,3598,1953,0,0,0,0,0,0
$GC,13304,0.94,277.5,16.2,9.7,1401,13316,0.00,2.20,7.20,0.709,6,0.000,0.048,3321,2197,1926,0,0,0,0,0,0
$FREEZE,8.96,3.403,-1.821,0,1,0
$FREEZE,8.51,3.397,-1.820,0,1,0
$FREEZE,7.90,3.392,-1.820,0,1,0
$FREEZE,7.35,3.391,-1.819,0,1,0
$FREEZE,6.82,3.416,-1.818,0,1,0
$FREEZE,6.30,3.425,-1.818,0,1,0
$FREEZE,5.66,3.427,-1.818,0,1,0
$FREEZE,5.12,3.408,-1.817,0,1,0
$FREEZE,4.58,3.423,-1.817,0,1,0
$FREEZE,3.98,3.418,-1.817,0,1,0
$FREEZE,3.59,3.438,-1.816,0,1,0
$FREEZE,3.09,3.440,-1.816,0,1,0
$FREEZE,2.52,3.429,-1.816,0,1,0
$STATE,13439,end climb,SURFACE_DEPTH_REACHED
$STATE,13439,begin surface coast
$FREEZE,1.95,3.454,-1.815,0,1,0
$FREEZE,1.54,3.469,-1.795,0,1,0
$FREEZE,1.66,3.477,-1.648,0,1,0
$FREEZE,1.61,3.504,-1.744,0,1,0
$FREEZE,1.53,3.443,-1.813,0,1,0
$FREEZE,1.58,3.462,-1.815,0,1,0
$FINISH,1.6,1.026331
$STATE,13476,end surface coast,CONTROL_FINISHED_OK
$STATE,13476,begin surface
$SM_CCo,13495,17.73,0.811,0,0,1835,300.00
$SM_GC,2.63,0.00,0.00,17.73,0.000,0.000,0.811,337,2264,1835,-12.77,0.37,300.00
$RAFOS_CLK,505
$RAFOS,2,1276546622,20.299999,20.283890,48,43,41,41,41,40,1159,857,995,877,1704,1158
$RAFOS,1,1276546147,20.166666,20.151945,53,45,44,41,41,39,898,1351,456,1,244,991
$RAFOS,0,1276545665,20.033333,20.018055,54,50,47,45,43,39,665,664,961,1668,61,89
$RAFOS,6,1276534142,16.833334,16.817223,155,140,43,43,41,40,840,841,1093,192,1648,1266
$RAFOS,4,1276533185,16.566668,16.551390,45,45,44,44,42,39,407,151,565,1360,322,1157
$RAFOS_FIX,6704.757324,-5651.536621,140610,121256,2,94,0.45
$IRIDIUM_FIX,6631.12,-5653.72,080999,131318
$TT8_MAMPS,0.028379
$HUMID,39.52
$INTERNAL_PRESSURE,10.2738
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,18.2
$ALTIM_BOTTOM_PING,500.6,88.4
$24V_AH,23.6,8.495
$10V_AH,10.3,4.375
$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,19.775,105.700,363.225,17.725,0.000,27.091,42.169,184.111,1.750,0.000,13.863,2310.772,8294.652,472.410,2216.836,605.120,0.000,1629.052,0.000,2202.905,1800.000,14.350,0.000
$DEVICE_MAMPS,236.236,102.011,1184.248,810.719,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1051.404,999.056,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135644
$DATA_FILE_SIZE,56737,1431
$CAP_FILE_SIZE,150167,0
$CFSIZE,260165632,245637120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1468.2
$GPS,140610,203101,6702.434,-5658.389,38,1.2,38,-37.6