version: 66.06
glider: 108
mission: 14
dive: 289
start: 8 5 110 20 58 34
data:
$ID,108
$MISSION,14
$DIVE,289
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$D_BOOST,0
$D_FINISH,9
$D_PITCH,0
$D_SAFE,500
$D_CALL,0
$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,-182145.69
$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,30
$R_STBD_OVSHOOT,21
$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,5
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,4
$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
$GPS1,204836,6650.701,-6016.105,30,0.8,30,-38.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-72.6
$GPS2,205814,6650.798,-6016.260,9,1.3,9,-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,247.7,14467,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.78,-146.1,0.0,0.0,0,67,0.00,0.00,-49.15,0.000,2,0.000,0.000,337,2269,1720,0,0,0,0,0,0
$GC,71,-0.78,-146.1,3.0,-0.7,10,190,10.18,2.38,-98.85,0.000,4,0.232,0.078,2935,842,3656,0,0,0,0,0,0
$GC,332,-0.78,-146.1,26.8,-12.4,58,338,0.00,2.38,0.00,0.000,6,0.000,0.067,2927,2263,3661,0,0,0,0,0,0
$GC,676,-0.78,-146.1,75.1,-13.7,119,682,0.00,2.17,0.00,0.000,4,0.000,0.078,2917,3597,3664,0,0,0,0,0,0
$GC,778,-0.78,-146.1,90.3,-13.8,137,784,0.10,2.15,0.00,0.000,6,0.164,0.054,2943,2248,3664,0,0,0,0,0,0
$GC,1114,-0.78,-146.1,125.7,-9.3,175,1118,0.00,2.25,0.00,0.000,4,0.000,0.066,2943,843,3665,0,0,0,0,0,0
$GC,1153,-0.78,-146.1,129.5,-9.0,178,1158,0.00,2.35,0.00,0.000,6,0.000,0.070,2936,2254,3665,0,0,0,0,0,0
$GC,1478,-0.78,-146.1,160.6,-9.5,209,1482,0.00,2.33,0.00,0.000,4,0.000,0.066,2936,833,3664,0,0,0,0,0,0
$GC,1517,-0.78,-146.1,164.5,-9.8,212,1522,0.00,2.35,0.00,0.000,6,0.000,0.070,2927,2257,3665,0,0,0,0,0,0
$GC,1843,-0.78,-146.1,197.6,-10.3,242,1847,0.00,2.17,0.00,0.000,4,0.000,0.082,2916,3601,3664,0,0,0,0,0,0
$GC,1894,-0.78,-146.1,203.1,-11.4,246,1898,0.10,2.17,0.00,0.000,6,0.160,0.058,2943,2242,3664,0,0,0,0,0,0
$GC,2219,-0.78,-146.1,231.8,-8.5,276,2221,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2242,3663,0,0,0,0,0,0
$GC,2539,-0.78,-146.1,258.0,-8.0,306,2541,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2242,3662,0,0,0,0,0,0
$GC,2858,-0.78,-146.1,281.3,-6.8,336,2862,0.00,2.25,0.00,0.000,4,0.000,0.070,2943,834,3662,0,0,0,0,0,0
$GC,2892,-0.78,-146.1,284.1,-7.7,338,2897,0.00,2.38,0.00,0.000,6,0.000,0.071,2936,2260,3662,0,0,0,0,0,0
$GC,3218,-0.78,-146.1,308.4,-7.7,369,3222,0.00,2.17,0.00,0.000,4,0.000,0.082,2926,3596,3661,0,0,0,0,0,0
$GC,3258,-0.78,-146.1,311.8,-9.0,372,3262,0.00,2.15,0.00,0.000,6,0.000,0.058,2926,2245,3661,0,0,0,0,0,0
$GC,3584,-0.78,-146.1,339.2,-8.6,402,3585,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2244,3662,0,0,0,0,0,0
$GC,3905,-0.78,-146.1,369.0,-9.8,432,3909,0.00,2.28,0.00,0.000,4,0.000,0.069,2925,829,3661,0,0,0,0,0,0
$GC,3928,-0.78,-146.1,371.7,-9.9,433,3934,0.10,2.38,0.00,0.000,6,0.153,0.071,2945,2262,3661,0,0,0,0,0,0
$GC,4253,-0.78,-146.1,396.9,-7.1,464,4257,0.00,2.17,0.00,0.000,4,0.000,0.081,2937,3601,3661,0,0,0,0,0,0
$GC,4281,-0.78,-146.1,399.2,-7.6,466,4285,0.00,2.15,0.00,0.000,6,0.000,0.055,2937,2246,3661,0,0,0,0,0,0
$GC,4606,-0.78,-146.1,423.2,-7.0,496,4611,0.00,2.25,0.00,0.000,4,0.000,0.066,2937,840,3661,0,0,0,0,0,0
$GC,4629,-0.78,-146.1,424.9,-7.4,497,4635,0.00,2.35,0.00,0.000,6,0.000,0.068,2928,2261,3661,0,0,0,0,0,0
$GC,4954,-0.78,-146.1,448.2,-7.0,528,4958,0.00,2.17,0.00,0.000,4,0.000,0.079,2918,3604,3662,0,0,0,0,0,0
$GC,5005,-0.78,-146.1,452.3,-8.4,532,5011,0.10,2.15,0.00,0.000,6,0.152,0.054,2946,2242,3662,0,0,0,0,0,0
$GC,5330,-0.78,-146.1,472.6,-6.2,563,5334,0.00,2.25,0.00,0.000,4,0.000,0.065,2946,834,3662,0,0,0,0,0,0
$GC,5363,-0.78,-146.1,474.9,-7.0,565,5369,0.00,2.35,0.00,0.000,6,0.000,0.067,2940,2260,3662,0,0,0,0,0,0
$GC,5689,-0.78,-146.1,497.2,-7.3,596,5693,0.00,2.15,0.00,0.000,4,0.000,0.078,2930,3597,3663,0,0,0,0,0,0
$GC,5716,-0.78,-146.1,499.4,-7.7,598,5722,0.00,2.12,0.00,0.000,6,0.000,0.053,2930,2242,3663,0,0,0,0,0,0
$GC,6042,-0.78,-146.1,524.0,-7.5,629,6046,0.00,2.22,0.00,0.000,4,0.000,0.064,2930,844,3663,0,0,0,0,0,0
$GC,6064,-0.78,-146.1,525.8,-7.9,630,6069,0.00,2.33,0.00,0.000,6,0.000,0.067,2922,2256,3663,0,0,0,0,0,0
$GC,6390,-0.78,-146.1,552.0,-8.1,661,6394,0.00,2.17,0.00,0.000,4,0.000,0.077,2911,3601,3663,0,0,0,0,0,0
$GC,6434,-0.78,-146.1,555.8,-9.1,664,6440,0.12,2.12,0.00,0.000,6,0.141,0.052,2948,2250,3664,0,0,0,0,0,0
$STATE,6705,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6705,begin apogee
$GC,6713,-0.17,0.0,573.4,6.1,690,6839,0.38,0.00,119.70,1.206,6,0.117,0.000,3078,2190,3057,0,0,0,0,0,0
$STATE,6840,end apogee,CONTROL_FINISHED_OK
$STATE,6840,begin climb
$GC,6843,0.78,146.1,577.8,0.0,703,6978,0.57,2.60,123.82,1.134,4,0.067,0.071,3285,3594,2462,0,0,0,0,0,0
$GC,7006,0.78,146.1,569.9,10.2,718,7011,0.00,2.40,0.00,0.000,6,0.000,0.049,3295,2201,2461,0,0,0,0,0,0
$GC,7331,0.82,178.7,541.1,8.5,749,7366,0.00,2.42,27.85,1.091,4,0.000,0.062,3306,789,2329,0,0,0,0,0,0
$GC,7432,0.83,186.4,531.9,9.6,758,7446,0.00,2.42,8.02,0.927,6,0.000,0.063,3306,2203,2298,0,0,0,0,0,0
$GC,7772,0.84,189.9,498.3,9.8,790,7783,0.00,2.30,4.30,0.735,4,0.000,0.074,3306,3598,2283,0,0,0,0,0,0
$GC,7822,0.84,189.9,492.3,12.3,794,7828,0.00,2.25,0.00,0.000,6,0.000,0.050,3315,2192,2284,0,0,0,0,0,0
$GC,8147,0.84,189.9,456.9,11.3,825,8151,0.00,2.25,0.00,0.000,4,0.000,0.061,3326,788,2285,0,0,0,0,0,0
$GC,8231,0.84,189.9,447.2,11.5,832,8236,0.12,2.35,0.00,0.000,6,0.163,0.062,3293,2213,2286,0,0,0,0,0,0
$GC,8556,0.84,197.0,415.3,9.7,862,8570,0.00,2.30,7.25,0.910,4,0.000,0.074,3293,3601,2255,0,0,0,0,0,0
$GC,8588,0.84,197.0,411.9,10.4,865,8592,0.00,2.22,0.00,0.000,6,0.000,0.051,3300,2195,2256,0,0,0,0,0,0
$GC,8913,0.86,208.9,380.2,9.5,895,8927,0.00,0.00,11.32,0.981,6,0.000,0.000,3300,2195,2206,0,0,0,0,0,0
$GC,9242,0.88,225.8,348.9,9.2,926,9263,0.00,2.28,15.35,0.995,4,0.000,0.060,3311,785,2137,0,0,0,0,0,0
$GC,9316,0.88,225.8,342.0,10.0,932,9321,0.00,2.35,0.00,0.000,6,0.000,0.062,3311,2201,2138,0,0,0,0,0,0
$GC,9641,0.89,230.1,309.9,9.8,963,9652,0.00,2.25,4.97,0.749,4,0.000,0.073,3311,3594,2119,0,0,0,0,0,0
$GC,9703,0.89,230.1,302.9,12.3,968,9709,0.00,2.22,0.00,0.000,6,0.000,0.050,3321,2188,2120,0,0,0,0,0,0
$GC,10028,0.89,230.1,269.7,10.0,999,10032,0.00,2.22,0.00,0.000,4,0.000,0.061,3332,789,2120,0,0,0,0,0,0
$GC,10095,0.89,234.6,263.1,9.8,1004,10106,0.10,2.33,5.55,0.774,6,0.166,0.062,3306,2204,2101,0,0,0,0,0,0
$GC,10426,0.92,258.3,234.3,8.9,1035,10451,0.00,2.25,20.98,0.964,4,0.000,0.072,3306,3596,2004,0,0,0,0,0,0
$GC,10491,0.92,258.3,227.5,11.2,1040,10497,0.00,2.22,0.00,0.000,6,0.000,0.051,3312,2199,2003,0,0,0,0,0,0
$GC,10817,0.95,280.5,194.8,9.0,1071,10842,0.00,2.28,19.60,0.935,4,0.000,0.062,3323,790,1914,0,0,0,0,0,0
$GC,10883,0.97,297.5,189.1,9.2,1077,10905,0.00,2.35,15.50,0.904,6,0.000,0.064,3323,2202,1845,0,0,0,0,0,0
$GC,11224,0.99,318.3,157.9,9.1,1109,11248,0.00,2.33,18.05,0.907,4,0.000,0.076,3323,3593,1760,0,0,0,0,0,0
$GC,11293,0.99,318.3,150.7,11.2,1115,11299,0.00,2.25,0.00,0.000,6,0.000,0.052,3333,2195,1758,0,0,0,0,0,0
$GC,11618,1.03,345.6,119.0,8.8,1146,11649,0.00,2.33,23.85,0.914,4,0.000,0.065,3343,795,1649,0,0,0,0,0,0
$GC,11725,1.07,383.1,109.8,8.3,1155,11764,0.00,2.38,33.33,0.900,6,0.000,0.065,3343,2213,1496,0,0,0,0,0,0
$GC,12099,1.09,398.3,73.9,9.3,1213,12120,0.00,2.35,12.52,0.840,4,0.000,0.079,3343,3601,1434,0,0,0,0,0,0
$GC,12161,1.09,398.3,67.8,10.4,1224,12166,0.00,2.28,0.00,0.000,6,0.000,0.055,3352,2196,1434,0,0,0,0,0,0
$GC,12506,1.15,446.3,39.2,7.8,1285,12553,0.00,2.35,41.12,0.887,4,0.000,0.066,3356,783,1237,0,0,0,0,0,0
$GC,12591,1.23,513.0,32.9,7.0,1300,12652,0.10,2.42,54.90,0.856,6,0.103,0.067,3404,2212,966,0,0,0,0,0,0
$FREEZE,8.90,3.302,-1.673,0,1,0
$FREEZE,8.37,3.310,-1.673,0,1,0
$FREEZE,7.87,3.308,-1.673,0,1,0
$FREEZE,7.41,3.315,-1.672,0,1,0
$FREEZE,6.99,3.320,-1.672,0,1,0
$FREEZE,6.49,3.320,-1.671,0,1,0
$FREEZE,5.87,3.316,-1.671,0,1,0
$FREEZE,5.29,3.335,-1.670,0,1,0
$FREEZE,4.81,3.342,-1.670,0,1,0
$FREEZE,4.40,3.338,-1.670,0,1,0
$FREEZE,3.86,3.340,-1.669,0,1,0
$STATE,12937,end climb,SURFACE_DEPTH_REACHED
$STATE,12937,begin surface coast
$FREEZE,3.46,3.340,-1.669,0,1,0
$FREEZE,2.79,3.337,-1.669,0,1,0
$FREEZE,2.30,3.346,-1.669,0,1,0
$FREEZE,2.02,3.370,-1.668,0,1,0
$FREEZE,1.85,3.443,-1.664,0,1,0
$FREEZE,1.87,3.266,-0.831,0,1,0
$FREEZE,1.93,3.468,-1.663,0,1,0
$FREEZE,1.90,3.465,-1.577,0,1,0
$FREEZE,1.93,3.376,-1.664,0,1,0
$FINISH,1.9,1.024215
$STATE,12989,end surface coast,CONTROL_FINISHED_OK
$STATE,12989,begin surface
$SM_CCo,13008,73.03,0.840,0,0,588,605.89
$SM_GC,2.74,0.00,0.00,73.03,0.000,0.000,0.840,341,2252,588,-12.75,0.06,605.89
$RAFOS_CLK,535
$RAFOS,3,1281054303,0.433333,0.417500,52,44,43,42,42,41,154,357,459,1038,275,225
$RAFOS,2,1281053825,0.300000,0.284722,100,95,46,46,42,40,678,679,112,984,1655,1935
$RAFOS,1,1281053349,0.166667,0.152500,62,53,45,44,43,41,550,552,1894,61,1846,145
$RAFOS,0,1281052869,0.033333,0.019167,68,67,48,42,42,41,588,589,1730,602,1195,936
$RAFOS,5,1281040869,20.700001,20.685833,77,77,46,44,42,42,928,927,1277,215,314,1248
$RAFOS_FIX,6649.825195,-6015.439941,050810,202048,5,87,0.00
$IRIDIUM_FIX,6625.71,-6017.35,301099,212154
$TT8_MAMPS,0.029913
$HUMID,42.71
$INTERNAL_PRESSURE,10.1078
$TCM_TEMP,15.70
$XPDR_PINGS,1
$ALTIM_TOP_PING,20.0,18.3
$24V_AH,22.6,49.943
$10V_AH,10.0,27.099
$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,20.200,132.350,568.000,73.025,0.000,55.201,111.346,197.961,2.250,0.000,10.838,2199.191,7783.297,742.268,2193.172,751.798,0.000,1946.564,0.000,2177.953,1800.000,16.079,0.000
$DEVICE_MAMPS,232.401,156.468,1205.724,839.865,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1001.442,970.920,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135672
$DATA_FILE_SIZE,53626,1372
$CAP_FILE_SIZE,156707,0
$CFSIZE,260165632,223846400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.6
$GPS,060810,003824,6650.705,-6019.545,34,1.3,34,-38.2