version: 66.06
glider: 108
mission: 14
dive: 292
start: 8 6 110 8 17 6
data:
$ID,108
$MISSION,14
$DIVE,292
$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,-182195.39
$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,33
$R_STBD_OVSHOOT,17
$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
$GPS1,081000,6648.534,-6017.557,36,0.9,41,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.72
$_SM_ANGLEo,-71.2
$GPS2,081644,6648.573,-6017.486,14,0.9,14,-38.2
$SPEED_LIMITS,0.173,0.263
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$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,118.2,153621,-18.1,-10.000
$D_GRID,560
$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,-146.1,0.0,0.0,0,78,0.00,0.00,-59.70,0.000,2,0.000,0.000,337,2255,1960,0,0,0,0,0,0
$GC,82,-0.78,-146.1,3.0,-0.8,12,181,10.32,2.22,-80.40,0.000,4,0.239,0.087,2926,3607,3655,0,0,0,0,0,0
$GC,294,-0.78,-146.1,26.2,-13.9,51,300,0.00,2.17,0.00,0.000,6,0.000,0.055,2926,2243,3661,0,0,0,0,0,0
$GC,638,-0.78,-146.1,72.9,-12.6,112,643,0.00,2.28,0.00,0.000,4,0.000,0.067,2925,832,3664,0,0,0,0,0,0
$GC,774,-0.78,-146.1,90.1,-12.9,136,780,0.10,2.38,0.00,0.000,6,0.160,0.068,2944,2264,3664,0,0,0,0,0,0
$GC,1112,-0.78,-146.1,125.3,-9.3,175,1113,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2264,3664,0,0,0,0,0,0
$GC,1430,-0.78,-146.1,153.5,-8.6,205,1431,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2263,3664,0,0,0,0,0,0
$GC,1751,-0.78,-146.1,181.2,-8.4,235,1755,0.00,2.33,0.00,0.000,4,0.000,0.067,2944,842,3664,0,0,0,0,0,0
$GC,1784,-0.78,-146.1,184.6,-9.8,237,1789,0.00,2.33,0.00,0.000,6,0.000,0.070,2937,2248,3664,0,0,0,0,0,0
$GC,2109,-0.78,-146.1,213.9,-9.0,268,2110,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2248,3664,0,0,0,0,0,0
$GC,2428,-0.78,-146.1,241.9,-8.8,298,2429,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2248,3663,0,0,0,0,0,0
$GC,2749,-0.78,-146.1,268.6,-8.3,328,2754,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2248,3662,0,0,0,0,0,0
$GC,3077,-0.78,-146.1,295.7,-8.3,359,3081,0.00,2.28,0.00,0.000,4,0.000,0.067,2937,842,3662,0,0,0,0,0,0
$GC,3122,-0.78,-146.1,299.9,-8.2,362,3131,0.00,2.35,0.00,0.000,6,0.000,0.071,2928,2257,3662,0,0,0,0,0,0
$GC,3447,-0.78,-146.1,327.8,-8.5,393,3448,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2256,3662,0,0,0,0,0,0
$GC,3768,-0.78,-146.1,352.6,-7.5,423,3773,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2256,3662,0,0,0,0,0,0
$GC,4098,-0.78,-146.1,375.9,-7.0,454,4102,0.00,2.17,0.00,0.000,4,0.000,0.079,2918,3597,3661,0,0,0,0,0,0
$GC,4133,-0.78,-146.1,379.0,-8.1,457,4137,0.10,2.15,0.00,0.000,6,0.154,0.056,2946,2245,3661,0,0,0,0,0,0
$GC,4459,-0.78,-146.1,399.5,-6.4,487,4463,0.00,2.25,0.00,0.000,4,0.000,0.067,2946,839,3661,0,0,0,0,0,0
$GC,4494,-0.78,-146.1,402.0,-7.4,490,4499,0.00,2.35,0.00,0.000,6,0.000,0.068,2939,2260,3661,0,0,0,0,0,0
$GC,4820,-0.78,-146.1,427.8,-8.3,520,4821,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2261,3661,0,0,0,0,0,0
$GC,5141,-0.78,-146.1,453.4,-8.2,550,5147,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2261,3661,0,0,0,0,0,0
$GC,5469,-0.78,-146.1,479.1,-7.8,581,5473,0.00,2.30,0.00,0.000,4,0.000,0.063,2939,837,3662,0,0,0,0,0,0
$GC,5503,-0.78,-146.1,482.0,-8.4,583,5508,0.00,2.33,0.00,0.000,6,0.000,0.067,2930,2251,3662,0,0,0,0,0,0
$GC,5829,-0.78,-146.1,506.6,-7.3,614,5830,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2251,3663,0,0,0,0,0,0
$GC,6149,-0.78,-146.1,529.8,-7.4,644,6150,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2251,3663,0,0,0,0,0,0
$GC,6468,-0.78,-146.1,553.3,-7.1,674,6473,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2251,3663,0,0,0,0,0,0
$STATE,6556,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6556,begin apogee
$GC,6564,-0.17,0.0,560.3,7.1,683,6690,0.43,0.00,119.32,1.190,6,0.116,0.000,3073,2180,3058,0,0,0,0,0,0
$STATE,6691,end apogee,CONTROL_FINISHED_OK
$STATE,6691,begin climb
$GC,6694,0.78,146.1,565.0,0.0,696,6829,0.60,2.45,123.45,1.124,4,0.073,0.064,3295,811,2462,0,0,0,0,0,0
$GC,6891,0.84,195.8,555.8,7.7,714,6941,0.00,2.50,44.08,1.081,6,0.000,0.064,3295,2211,2258,0,0,0,0,0,0
$GC,7267,0.87,214.9,522.9,9.1,750,7289,0.00,2.40,16.60,1.039,4,0.000,0.074,3295,3596,2181,0,0,0,0,0,0
$GC,7335,0.87,214.9,515.8,11.9,756,7340,0.00,2.28,0.00,0.000,6,0.000,0.051,3305,2208,2180,0,0,0,0,0,0
$GC,7666,0.87,214.9,481.8,10.7,787,7670,0.00,2.30,0.00,0.000,4,0.000,0.062,3315,786,2180,0,0,0,0,0,0
$GC,7710,0.87,214.9,477.4,10.1,790,7715,0.00,2.35,0.00,0.000,6,0.000,0.062,3315,2203,2180,0,0,0,0,0,0
$GC,8034,0.87,214.9,440.8,11.6,821,8036,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2203,2179,0,0,0,0,0,0
$GC,8356,0.87,214.9,405.4,10.8,851,8357,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2203,2178,0,0,0,0,0,0
$GC,8673,0.87,214.9,371.3,10.5,881,8675,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2203,2179,0,0,0,0,0,0
$GC,8993,0.87,214.9,336.3,10.7,911,8994,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2203,2178,0,0,0,0,0,0
$GC,9310,0.87,214.9,301.8,10.7,941,9314,0.00,2.22,0.00,0.000,4,0.000,0.072,3315,3594,2178,0,0,0,0,0,0
$GC,9340,0.87,214.9,298.3,11.9,943,9345,0.10,2.20,0.00,0.000,6,0.181,0.051,3300,2193,2177,0,0,0,0,0,0
$GC,9665,0.91,252.5,268.8,8.3,973,9701,0.00,2.25,31.38,1.005,4,0.000,0.060,3308,790,2028,0,0,0,0,0,0
$GC,9737,0.94,272.4,262.7,9.1,979,9761,0.00,2.35,17.85,0.942,6,0.000,0.062,3308,2203,1947,0,0,0,0,0,0
$GC,10088,0.96,287.2,230.2,9.3,1012,10109,0.00,2.30,13.18,0.904,4,0.000,0.074,3308,3590,1887,0,0,0,0,0,0
$GC,10134,0.97,295.7,225.7,9.6,1016,10149,0.00,2.22,8.70,0.837,6,0.000,0.051,3318,2196,1851,0,0,0,0,0,0
$GC,10475,0.99,311.6,192.6,9.3,1048,10496,0.00,2.30,14.18,0.900,4,0.000,0.062,3327,775,1787,0,0,0,0,0,0
$GC,10569,1.04,358.5,184.2,7.9,1056,10616,0.00,2.38,40.97,0.937,6,0.000,0.063,3327,2210,1596,0,0,0,0,0,0
$GC,10935,1.05,362.0,149.6,9.8,1091,10939,0.00,2.28,0.00,0.000,4,0.000,0.075,3327,3604,1589,0,0,0,0,0,0
$GC,10963,1.05,362.0,146.5,10.7,1093,10968,0.00,2.25,0.00,0.000,6,0.000,0.052,3337,2196,1588,0,0,0,0,0,0
$GC,11288,1.07,378.9,114.4,9.2,1123,11313,0.00,2.33,17.00,0.892,4,0.000,0.064,3346,793,1513,0,0,0,0,0,0
$GC,11382,1.11,409.8,106.0,8.6,1131,11418,0.00,2.35,27.52,0.900,6,0.000,0.064,3346,2202,1387,0,0,0,0,0,0
$GC,11754,1.14,436.9,72.9,8.8,1192,11780,0.00,0.00,22.70,0.887,6,0.000,0.000,3346,2202,1277,0,0,0,0,0,0
$GC,12122,1.24,515.7,43.4,6.4,1257,12193,0.12,0.00,65.18,0.887,6,0.093,0.000,3407,2202,954,0,0,0,0,0,0
$FREEZE,8.82,3.217,-1.673,0,1,0
$FREEZE,8.47,3.217,-1.673,0,1,0
$FREEZE,8.02,3.217,-1.673,0,1,0
$FREEZE,7.61,3.219,-1.673,0,1,0
$FREEZE,7.13,3.225,-1.673,0,1,0
$FREEZE,6.88,3.227,-1.673,0,1,0
$FREEZE,6.60,3.229,-1.672,0,1,0
$FREEZE,6.22,3.230,-1.672,0,1,0
$FREEZE,5.98,3.228,-1.672,0,1,0
$FREEZE,5.58,3.228,-1.672,0,1,0
$FREEZE,5.30,3.221,-1.672,0,1,0
$FREEZE,4.90,3.228,-1.671,0,1,0
$FREEZE,4.48,3.228,-1.671,0,1,0
$FREEZE,4.09,3.221,-1.671,0,1,0
$FREEZE,3.68,3.221,-1.670,0,1,0
$STATE,12529,end climb,SURFACE_DEPTH_REACHED
$STATE,12532,begin surface coast
$FREEZE,3.29,3.224,-1.670,0,1,0
$FREEZE,2.73,3.218,-1.670,0,1,0
$FREEZE,2.26,3.224,-1.670,0,1,0
$FREEZE,1.82,3.230,-1.474,0,1,0
$FREEZE,1.96,3.275,-1.638,0,1,0
$FREEZE,1.94,3.251,-1.664,0,1,0
$FREEZE,2.28,3.224,-1.669,0,1,0
$FREEZE,2.01,3.209,-1.670,0,1,0
$FREEZE,1.95,3.255,-1.666,0,1,0
$FREEZE,1.95,3.288,-1.053,0,1,0
$FREEZE,2.04,3.222,-1.668,0,1,0
$FREEZE,1.99,3.271,-1.667,0,1,0
$FINISH,2.0,1.024268
$STATE,12599,end surface coast,CONTROL_FINISHED_OK
$STATE,12599,begin surface
$SM_CCo,12619,70.72,0.851,0,0,587,605.89
$SM_GC,2.84,0.00,0.00,70.72,0.000,0.000,0.851,336,2252,587,-12.77,0.08,605.89
$RAFOS_CLK,517
$RAFOS,6,1281084552,8.833333,8.820000,82,76,42,42,41,41,771,772,1469,1005,955,1715
$RAFOS,5,1281084063,8.700000,8.684167,48,47,45,42,41,41,941,474,957,406,61,1908
$RAFOS,4,1281083585,8.566667,8.551389,81,65,45,42,41,41,702,709,365,959,1119,964
$RAFOS,3,1281083104,8.433333,8.417778,55,53,51,47,43,42,810,811,368,1294,1547,1846
$RAFOS,2,1281082651,8.300000,8.291945,55,49,43,42,42,41,1698,210,1146,29,1625,1698
$RAFOS,0,1281081667,8.033334,8.018611,57,53,46,44,43,43,599,600,920,1836,1729,830
$RAFOS_FIX,6647.227051,-6009.230957,060810,080844,2,82,4.03
$IRIDIUM_FIX,6620.33,-6037.64,311099,040450
$TT8_MAMPS,0.026845
$HUMID,42.99
$INTERNAL_PRESSURE,10.1078
$TCM_TEMP,15.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.0
$24V_AH,22.6,50.548
$10V_AH,10.0,27.337
$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,19.975,73.750,562.100,70.725,0.000,27.385,31.798,189.867,1.750,0.000,15.679,2130.936,7588.216,690.610,2089.436,594.352,0.000,1816.123,0.000,2067.406,1800.000,13.213,0.000
$DEVICE_MAMPS,238.537,134.992,1189.617,850.603,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,977.917,946.576,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135660
$DATA_FILE_SIZE,53619,1343
$CAP_FILE_SIZE,136998,0
$CFSIZE,260165632,223633408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.2
$GPS,060810,115006,6649.357,-6013.697,29,1.1,29,-38.2