version: 66.06
glider: 108
mission: 14
dive: 110
start: 6 27 110 23 55 28
data:
$ID,108
$MISSION,14
$DIVE,110
$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,-2
$USE_ICE,2
$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,605.89099
$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,-180265.31
$T_RSLEEP,60
$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,28
$R_STBD_OVSHOOT,22
$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,2.5
$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
$GPS1,234054,6649.001,-6012.955,24,0.8,40,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.80
$_SM_ANGLEo,-68.6
$GPS2,235508,6648.873,-6012.886,9,1.1,9,-38.2
$SPEED_LIMITS,0.173,0.263
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,265.0,13171,-18.1,-10.000
$D_GRID,573
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.78,-146.1,0.0,0.0,0,125,0.00,0.00,-104.32,0.000,2,0.000,0.000,337,2265,3594,0,0,0,0,0,0
$GC,131,-0.78,-146.1,3.6,-3.4,21,148,10.35,2.30,-1.23,0.000,4,0.255,0.102,2924,3604,3658,0,0,0,0,0,0
$GC,252,-0.78,-146.1,33.1,-13.8,42,257,0.00,2.20,0.00,0.000,6,0.000,0.060,2924,2248,3664,0,0,0,0,0,0
$GC,596,-0.78,-146.1,78.1,-12.3,103,602,0.00,2.30,0.00,0.000,4,0.000,0.073,2924,834,3665,0,0,0,0,0,0
$GC,636,-0.78,-146.1,83.2,-12.2,110,643,0.10,2.38,0.00,0.000,6,0.166,0.075,2941,2249,3665,0,0,0,0,0,0
$GC,976,-0.78,-146.1,119.2,-10.6,155,977,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2250,3666,0,0,0,0,0,0
$GC,1295,-0.78,-146.1,149.2,-9.1,185,1300,0.00,2.20,0.00,0.000,4,0.000,0.087,2932,3598,3666,0,0,0,0,0,0
$GC,1390,-0.78,-146.1,158.8,-9.9,193,1396,0.00,2.17,0.00,0.000,6,0.000,0.061,2932,2246,3665,0,0,0,0,0,0
$GC,1715,-0.78,-146.1,190.0,-9.0,224,1720,0.00,2.28,0.00,0.000,4,0.000,0.073,2932,834,3665,0,0,0,0,0,0
$GC,1760,-0.78,-146.1,194.3,-9.2,227,1766,0.00,2.35,0.00,0.000,6,0.000,0.076,2923,2251,3665,0,0,0,0,0,0
$GC,2085,-0.78,-146.1,223.8,-9.3,258,2086,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2251,3664,0,0,0,0,0,0
$GC,2404,-0.78,-146.1,253.5,-9.3,288,2408,0.00,2.20,0.00,0.000,4,0.000,0.087,2913,3600,3663,0,0,0,0,0,0
$GC,2488,-0.78,-146.1,262.2,-10.7,295,2494,0.12,2.17,0.00,0.000,6,0.158,0.061,2947,2241,3663,0,0,0,0,0,0
$GC,2813,-0.78,-146.1,284.9,-5.9,326,2817,0.00,2.22,0.00,0.000,4,0.000,0.073,2948,842,3663,0,0,0,0,0,0
$GC,2836,-0.78,-146.1,286.3,-6.2,328,2840,0.00,2.35,0.00,0.000,6,0.000,0.074,2940,2260,3663,0,0,0,0,0,0
$GC,3161,-0.78,-146.1,307.0,-6.6,358,3162,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2261,3664,0,0,0,0,0,0
$GC,3482,-0.78,-146.1,327.8,-6.8,388,3483,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2260,3664,0,0,0,0,0,0
$GC,3798,-0.78,-146.1,349.5,-7.0,418,3802,0.00,2.30,0.00,0.000,4,0.000,0.069,2940,841,3664,0,0,0,0,0,0
$GC,3838,-0.78,-146.1,352.4,-7.8,421,3842,0.00,2.33,0.00,0.000,6,0.000,0.074,2931,2249,3664,0,0,0,0,0,0
$GC,4163,-0.78,-146.1,378.5,-8.4,451,4167,0.00,2.20,0.00,0.000,4,0.000,0.084,2920,3606,3664,0,0,0,0,0,0
$GC,4198,-0.78,-146.1,381.7,-10.0,454,4202,0.10,2.17,0.00,0.000,6,0.161,0.058,2947,2239,3664,0,0,0,0,0,0
$GC,4523,-0.78,-146.1,407.3,-7.9,484,4527,0.00,2.22,0.00,0.000,4,0.000,0.071,2947,843,3665,0,0,0,0,0,0
$GC,4575,-0.78,-146.1,411.4,-8.2,488,4579,0.00,2.30,0.00,0.000,6,0.000,0.073,2940,2251,3665,0,0,0,0,0,0
$GC,4900,-0.78,-146.1,434.9,-6.9,518,4901,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2251,3665,0,0,0,0,0,0
$GC,5221,-0.78,-146.1,455.7,-6.5,548,5225,0.00,2.17,0.00,0.000,4,0.000,0.084,2930,3600,3666,0,0,0,0,0,0
$GC,5244,-0.78,-146.1,457.4,-6.4,550,5248,0.00,2.15,0.00,0.000,6,0.000,0.058,2930,2239,3665,0,0,0,0,0,0
$GC,5574,-0.78,-146.1,480.0,-6.6,581,5578,0.00,2.22,0.00,0.000,4,0.000,0.070,2930,838,3666,0,0,0,0,0,0
$GC,5620,-0.78,-146.1,483.1,-7.1,585,5624,0.00,2.33,0.00,0.000,6,0.000,0.073,2920,2249,3666,0,0,0,0,0,0
$GC,5946,-0.78,-146.1,505.9,-7.3,615,5950,0.10,2.20,0.00,0.000,4,0.166,0.084,2939,3602,3667,0,0,0,0,0,0
$GC,5990,-0.78,-146.1,509.0,-6.5,618,5995,0.00,2.12,0.00,0.000,6,0.000,0.057,2940,2248,3666,0,0,0,0,0,0
$GC,6315,-0.78,-146.1,530.4,-6.6,649,6319,0.00,2.22,0.00,0.000,4,0.000,0.069,2939,841,3666,0,0,0,0,0,0
$GC,6355,-0.78,-146.1,533.1,-7.0,652,6359,0.00,2.33,0.00,0.000,6,0.000,0.071,2930,2261,3666,0,0,0,0,0,0
$GC,6680,-0.78,-146.1,556.3,-7.1,682,6683,0.00,2.12,0.00,0.000,4,0.000,0.081,2920,3597,3667,0,0,0,0,0,0
$GC,6719,-0.78,-146.1,559.5,-8.3,685,6725,0.10,2.12,0.00,0.000,6,0.161,0.057,2947,2248,3667,0,0,0,0,0,0
$STATE,6913,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6914,begin apogee
$GC,6921,-0.17,0.0,573.7,7.4,704,7048,0.38,0.00,123.55,1.233,6,0.127,0.000,3075,2194,3058,0,0,0,0,0,0
$STATE,7049,end apogee,CONTROL_FINISHED_OK
$STATE,7049,begin climb
$GC,7052,0.78,146.1,577.2,0.0,717,7187,0.60,2.55,123.03,1.170,4,0.080,0.068,3294,780,2462,0,0,0,0,0,0
$GC,7215,0.78,146.1,565.5,10.3,732,7221,0.00,2.55,0.00,0.000,6,0.000,0.069,3294,2197,2461,0,0,1,0,0,0
$GC,7540,0.78,146.1,533.2,10.3,763,7544,0.00,2.38,0.00,0.000,4,0.000,0.077,3294,3600,2457,0,0,0,0,0,0
$GC,7579,0.78,146.1,528.8,11.5,766,7584,0.10,2.33,0.00,0.000,6,0.180,0.052,3281,2188,2457,0,0,0,0,0,0
$GC,7904,0.80,158.5,498.3,9.4,796,7920,0.00,2.30,11.00,1.048,4,0.000,0.062,3289,783,2411,0,0,0,0,0,0
$GC,7944,0.83,186.7,494.7,8.7,799,7975,0.00,2.42,24.98,1.118,6,0.000,0.066,3290,2212,2296,0,0,0,0,0,0
$GC,8294,0.83,186.7,457.9,10.4,832,8298,0.00,2.28,0.00,0.000,4,0.000,0.077,3289,3599,2292,0,0,0,0,0,0
$GC,8349,0.83,186.7,451.2,13.0,836,8355,0.00,2.25,0.00,0.000,6,0.000,0.052,3299,2198,2290,0,0,0,0,0,0
$GC,8674,0.83,186.7,415.9,11.1,867,8678,0.00,2.25,0.00,0.000,4,0.000,0.063,3310,789,2291,0,0,0,0,0,0
$GC,8740,0.83,186.7,408.7,10.4,872,8746,0.00,2.35,0.00,0.000,6,0.000,0.066,3310,2201,2291,0,0,0,0,0,0
$GC,9065,0.83,186.7,373.3,11.0,903,9069,0.00,2.28,0.00,0.000,4,0.000,0.077,3309,3600,2291,0,0,0,0,0,0
$GC,9116,0.83,186.7,366.8,14.1,907,9120,0.12,2.22,0.00,0.000,6,0.174,0.053,3287,2200,2289,0,0,0,0,0,0
$GC,9440,0.83,186.7,333.2,10.3,937,9444,0.00,2.25,0.00,0.000,4,0.000,0.064,3295,787,2290,0,0,0,0,0,0
$GC,9496,0.84,191.6,327.4,9.8,941,9506,0.00,2.33,4.68,0.777,6,0.000,0.067,3295,2199,2277,0,0,0,0,0,0
$GC,9831,0.84,191.6,292.7,10.8,973,9835,0.00,2.30,0.00,0.000,4,0.000,0.078,3295,3603,2277,0,0,0,0,0,0
$GC,9898,0.84,191.6,284.2,13.5,978,9904,0.00,2.22,0.00,0.000,6,0.000,0.053,3305,2201,2276,0,0,0,0,0,0
$GC,10223,0.84,191.6,248.5,10.2,1009,10227,0.00,2.28,0.00,0.000,4,0.000,0.064,3316,783,2276,0,0,0,0,0,0
$GC,10274,0.84,191.6,243.2,10.7,1013,10279,0.10,2.35,0.00,0.000,6,0.170,0.067,3290,2215,2276,0,0,0,0,0,0
$GC,10599,0.90,239.2,216.4,7.8,1043,10645,0.00,2.30,40.62,1.014,4,0.000,0.077,3290,3595,2081,0,0,0,0,0,0
$GC,10693,0.90,239.4,208.4,10.0,1051,10697,0.00,2.25,0.00,0.000,6,0.000,0.054,3297,2202,2075,0,0,0,0,0,0
$GC,11023,0.95,282.6,180.8,8.0,1082,11068,0.08,2.40,36.72,0.972,4,0.130,0.064,3344,791,1904,0,0,0,0,0,0
$GC,11120,0.95,282.6,170.9,10.7,1091,11125,0.10,2.40,0.00,0.000,6,0.171,0.067,3319,2201,1902,0,0,0,0,0,0
$GC,11445,0.96,286.7,139.2,9.8,1121,11449,0.00,2.30,0.00,0.000,4,0.000,0.081,3319,3601,1896,0,0,0,0,0,0
$GC,11479,0.96,286.7,135.5,11.6,1124,11483,0.00,2.25,0.00,0.000,6,0.000,0.055,3327,2200,1895,0,0,0,0,0,0
$GC,11809,0.97,299.2,103.5,9.4,1155,11830,0.00,2.33,13.40,0.901,4,0.000,0.067,3337,800,1838,0,0,0,0,0,0
$GC,11914,0.98,310.0,94.1,9.5,1169,11930,0.00,2.38,10.68,0.866,6,0.000,0.070,3337,2212,1794,0,0,0,0,0,0
$GC,12271,1.00,325.0,57.1,9.3,1232,12292,0.00,2.35,13.73,0.886,4,0.000,0.084,3337,3588,1732,0,0,0,0,0,0
$GC,12321,1.00,325.0,51.8,10.5,1241,12327,0.00,2.28,0.00,0.000,6,0.000,0.058,3346,2197,1731,0,0,0,0,0,0
$GC,12667,1.03,348.2,17.9,8.9,1302,12694,0.00,2.35,21.08,0.892,4,0.000,0.068,3356,782,1637,0,0,0,0,0,0
$FREEZE,8.65,-0.368,-1.672,2,21,0
$FREEZE,8.24,-0.372,-1.672,2,21,0
$FREEZE,7.75,-0.364,-1.672,2,21,0
$GC,12746,1.08,384.1,10.4,8.4,1316,12785,0.00,2.42,32.28,0.881,6,0.000,0.071,3356,2209,1491,0,0,0,0,0,0
$FREEZE,6.72,-0.363,-1.671,2,21,0
$FREEZE,6.26,-0.362,-1.671,2,21,0
$FREEZE,5.81,-0.363,-1.670,2,21,0
$FREEZE,5.36,-0.363,-1.670,2,21,0
$FREEZE,4.93,-0.360,-1.670,2,21,0
$FREEZE,4.50,-0.363,-1.669,2,21,0
$FREEZE,4.08,-0.374,-1.669,2,21,0
$FREEZE,3.57,-0.379,-1.669,2,21,0
$FREEZE,3.13,-0.381,-1.669,2,21,0
$FREEZE,2.75,-0.382,-1.668,2,21,0
$STATE,12841,end climb,SURFACE_DEPTH_REACHED
$STATE,12841,begin surface coast
$FREEZE,2.37,-0.387,-1.668,2,21,0
$FREEZE,1.99,-0.412,-1.669,2,21,0
$FREEZE,1.97,-0.343,-1.666,2,21,0
$FREEZE,2.02,-0.461,-1.623,2,21,0
$FREEZE,1.94,-0.356,-0.844,2,21,0
$FREEZE,1.97,-0.384,-0.238,2,21,0
$FINISH,2.0,1.003327
$STATE,12876,end surface coast,FINISH_DEPTH_REACHED
$STATE,12876,begin surface
$RAFOS_CLK,554
$RAFOS,6,1277686150,0.833333,0.819444,147,117,48,43,43,42,779,780,996,468,1003,1120
$RAFOS,5,1277685663,0.700000,0.684167,65,62,49,43,43,41,953,954,1874,117,1774,1480
$RAFOS,4,1277685191,0.566667,0.553056,89,79,48,43,43,42,684,683,259,61,1307,287
$RAFOS,3,1277684702,0.433333,0.417222,64,57,52,45,45,39,818,821,830,1145,829,1911
$RAFOS,2,1277684227,0.300000,0.285278,88,73,41,39,39,39,662,662,1312,406,1879,1713
$RAFOS,1,1277683742,0.166667,0.150556,98,98,55,51,46,41,567,567,343,344,1261,975
$RAFOS,0,1277683262,0.033333,0.017222,102,96,49,44,40,39,633,634,936,1932,642,1911
$RAFOS_FIX,6648.511719,-6012.331543,280610,000007,7,93,0.41
$IRIDIUM_FIX,6620.33,-6010.56,210999,232355
$TT8_MAMPS,0.026845
$HUMID,40.58
$INTERNAL_PRESSURE,10.1273
$TCM_TEMP,15.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,20.0,18.1
$ALTIM_BOTTOM_PING,550.1,59.5
$24V_AH,23.1,18.188
$10V_AH,10.2,10.202
$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,12.350,132.600,455.725,0.000,0.000,86.866,242.335,0.000,2.500,0.000,11.048,2256.812,7967.215,532.931,2158.895,936.728,0.000,1702.809,0.000,2133.490,2520.000,21.531,0.000
$DEVICE_MAMPS,254.644,130.390,1232.569,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,967.804,959.694,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135872
$DATA_FILE_SIZE,53587,1339
$CAP_FILE_SIZE,153265,0
$CFSIZE,260165632,239923200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1452.9
$GPS,280610,002707,6648.512,-6012.332,0,7093.3,0,-38.2