version: 66.06
glider: 108
mission: 14
dive: 372
start: 8 24 110 12 56 45
data:
$ID,108
$MISSION,14
$DIVE,372
$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,-183680.56
$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,27
$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
$GPS1,124407,6649.730,-6013.508,32,1.1,32,-38.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.82
$_SM_ANGLEo,-73.5
$GPS2,125625,6649.671,-6013.750,10,1.1,15,-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,118.8,150618,-18.1,-10.000
$D_GRID,583
$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,-146.1,0.0,0.0,0,57,0.00,0.00,-39.42,0.000,2,0.000,0.000,335,2236,1507,0,0,0,0,0,0
$GC,62,-0.78,-146.1,3.0,-0.8,8,186,10.23,2.30,-103.78,0.000,4,0.234,0.080,2932,838,3657,0,0,0,0,0,0
$GC,323,-0.78,-146.1,29.7,-12.4,56,328,0.00,2.35,0.00,0.000,6,0.000,0.068,2924,2252,3662,0,0,0,0,0,0
$GC,667,-0.78,-146.1,71.2,-11.7,117,672,0.00,2.20,0.00,0.000,4,0.000,0.079,2914,3602,3664,0,0,0,0,0,0
$GC,724,-0.78,-146.1,78.1,-11.8,127,730,0.10,2.15,0.00,0.000,6,0.163,0.054,2940,2247,3664,0,0,0,0,0,0
$GC,1068,-0.78,-146.1,113.1,-10.2,177,1069,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2247,3665,0,0,0,0,0,0
$GC,1389,-0.78,-146.1,145.1,-10.4,207,1394,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2247,3665,0,0,0,0,0,0
$GC,1717,-0.78,-146.1,175.9,-8.2,238,1721,0.00,2.25,0.00,0.000,4,0.000,0.067,2941,842,3664,0,0,0,0,0,0
$GC,1733,-0.78,-146.1,177.7,-8.4,239,1739,0.00,2.35,0.00,0.000,6,0.000,0.071,2933,2256,3664,0,0,0,0,0,0
$GC,2059,-0.78,-146.1,205.8,-8.4,270,2063,0.00,2.17,0.00,0.000,4,0.000,0.082,2923,3602,3663,0,0,0,0,0,0
$GC,2110,-0.78,-146.1,210.6,-9.6,274,2114,0.00,2.17,0.00,0.000,6,0.000,0.058,2923,2240,3663,0,0,0,0,0,0
$GC,2435,-0.78,-146.1,240.4,-8.9,304,2437,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2240,3663,0,0,0,0,0,0
$GC,2756,-0.78,-146.1,267.9,-8.5,334,2757,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2240,3662,0,0,0,0,0,0
$GC,3075,-0.78,-146.1,296.1,-8.7,364,3080,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2240,3662,0,0,0,0,0,0
$GC,3403,-0.78,-146.1,323.8,-8.4,395,3404,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2240,3661,0,0,0,0,0,0
$GC,3722,-0.78,-146.1,349.9,-8.3,425,3728,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2240,3661,0,0,0,0,0,0
$GC,4049,-0.78,-146.1,374.7,-7.6,456,4051,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2240,3661,0,0,0,0,0,0
$GC,4368,-0.78,-146.1,398.3,-7.3,486,4373,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2240,3661,0,0,0,0,0,0
$GC,4697,-0.78,-146.1,423.5,-7.8,517,4701,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2240,3661,0,0,0,0,0,0
$GC,5027,-0.78,-146.1,448.7,-7.9,548,5032,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2240,3661,0,0,0,0,0,0
$GC,5355,-0.78,-146.1,474.2,-7.6,579,5359,0.00,2.22,0.00,0.000,4,0.000,0.077,2915,3596,3661,0,0,0,0,0,0
$GC,5382,-0.78,-146.1,476.8,-8.2,581,5389,0.10,2.15,0.00,0.000,6,0.151,0.055,2943,2238,3661,0,0,0,0,0,0
$GC,5708,-0.78,-146.1,497.5,-6.4,612,5709,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2238,3661,0,0,0,0,0,0
$GC,6030,-0.78,-146.1,517.7,-5.9,642,6035,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2238,3662,0,0,0,0,0,0
$GC,6358,-0.78,-146.1,538.9,-6.6,673,6362,0.00,2.25,0.00,0.000,4,0.000,0.076,2936,3603,3662,0,0,0,0,0,0
$GC,6387,-0.78,-146.1,541.1,-6.7,675,6391,0.00,2.12,0.00,0.000,6,0.000,0.053,2936,2244,3662,0,0,0,0,0,0
$GC,6712,-0.78,-146.1,562.5,-6.0,705,6714,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2243,3662,0,0,0,0,0,0
$STATE,7030,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7030,begin apogee
$GC,7037,-0.17,0.0,583.3,6.4,735,7164,0.40,0.00,123.15,1.188,6,0.111,0.000,3073,2201,3058,0,0,0,0,0,0
$STATE,7165,end apogee,CONTROL_FINISHED_OK
$STATE,7165,begin climb
$GC,7168,0.78,146.1,588.1,0.0,748,7308,0.60,2.62,126.88,1.124,4,0.065,0.070,3289,3596,2461,0,0,0,0,0,0
$GC,7321,0.87,219.3,582.8,6.7,763,7395,0.00,2.45,66.30,1.081,6,0.000,0.050,3298,2196,2164,0,0,0,0,0,0
$GC,7721,0.87,219.3,543.9,10.3,801,7722,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,2196,2158,0,0,0,0,0,0
$GC,8043,0.88,229.6,512.8,9.5,831,8054,0.00,0.00,8.90,0.953,6,0.000,0.000,3298,2196,2122,0,0,0,0,0,0
$GC,8369,0.90,240.0,479.9,9.5,862,8384,0.00,2.28,10.73,0.986,4,0.000,0.061,3309,783,2078,0,0,0,0,0,0
$GC,8419,0.90,240.0,475.1,10.0,866,8423,0.00,2.38,0.00,0.000,6,0.000,0.064,3309,2212,2079,0,0,0,0,0,0
$GC,8744,0.90,240.0,440.4,11.0,896,8748,0.00,2.22,0.00,0.000,4,0.000,0.073,3309,3593,2078,0,0,0,0,0,0
$GC,8806,0.90,240.0,432.5,13.3,901,8810,0.00,2.20,0.00,0.000,6,0.000,0.051,3318,2191,2076,0,0,0,0,0,0
$GC,9136,0.90,240.0,392.8,11.8,932,9140,0.00,2.20,0.00,0.000,4,0.000,0.061,3329,795,2077,0,0,0,0,0,0
$GC,9180,0.90,240.0,387.6,12.4,935,9186,0.10,2.30,0.00,0.000,6,0.166,0.062,3303,2199,2078,0,0,0,0,0,0
$GC,9505,0.91,247.1,354.9,9.7,966,9519,0.00,2.30,7.10,0.867,4,0.000,0.073,3303,3594,2050,0,0,0,0,0,0
$GC,9564,0.91,247.1,348.2,11.6,971,9570,0.00,2.20,0.00,0.000,6,0.000,0.051,3310,2196,2050,0,0,0,0,0,0
$GC,9890,0.91,249.3,315.5,9.9,1002,9900,0.00,2.28,3.40,0.581,4,0.000,0.061,3321,794,2042,0,0,0,0,0,0
$GC,9918,0.93,262.7,312.6,9.4,1004,9937,0.00,2.30,13.18,0.948,6,0.000,0.062,3321,2201,1987,0,0,0,0,0,0
$GC,10262,0.93,262.7,277.1,10.3,1037,10266,0.00,2.25,0.00,0.000,4,0.000,0.074,3321,3599,1986,0,0,0,0,0,0
$GC,10318,0.93,262.7,270.7,11.7,1041,10323,0.00,2.22,0.00,0.000,6,0.000,0.051,3331,2190,1985,0,0,0,0,0,0
$GC,10642,0.93,262.7,237.3,10.0,1072,10646,0.00,2.22,0.00,0.000,4,0.000,0.063,3341,783,1984,0,0,0,0,0,0
$GC,10687,0.94,276.3,233.0,9.4,1075,10707,0.10,2.33,12.98,0.913,6,0.163,0.063,3314,2199,1931,0,0,0,0,0,0
$GC,11033,0.99,313.5,203.4,8.3,1108,11074,0.00,2.35,32.62,0.948,4,0.000,0.074,3314,3604,1778,0,0,0,0,0,0
$GC,11113,0.99,313.5,195.8,10.5,1115,11119,0.00,2.25,0.00,0.000,6,0.000,0.051,3321,2203,1775,0,0,0,0,0,0
$GC,11438,1.03,349.0,167.6,8.4,1146,11474,0.00,2.33,30.62,0.923,4,0.000,0.062,3330,786,1635,0,0,0,0,0,0
$GC,11502,1.08,391.8,162.4,8.0,1151,11549,0.00,2.38,38.33,0.900,6,0.000,0.063,3330,2202,1459,0,0,0,0,0,0
$GC,11869,1.11,416.3,129.6,8.9,1186,11892,0.10,0.00,20.88,0.871,6,0.106,0.000,3378,2202,1360,0,0,0,0,0,0
$GC,12213,1.11,416.3,85.7,12.4,1228,12218,0.10,0.00,0.00,0.000,6,0.163,0.000,3352,2201,1355,0,0,0,0,0,0
$GC,12559,1.13,424.8,52.6,9.6,1289,12569,0.00,0.00,7.00,0.751,6,0.000,0.000,3352,2202,1326,0,0,0,0,0,0
$GC,12911,1.19,480.3,24.4,7.5,1351,12962,0.00,0.00,47.62,0.869,6,0.000,0.000,3352,2202,1100,0,0,0,0,0,0
$FREEZE,8.63,2.700,-1.629,0,1,0
$FREEZE,8.18,2.697,-1.627,0,1,0
$FREEZE,7.65,2.699,-1.626,0,1,0
$FREEZE,7.11,2.693,-1.625,0,1,0
$FREEZE,6.47,2.694,-1.621,0,1,0
$FREEZE,5.79,2.626,-1.628,0,1,0
$FREEZE,5.13,2.625,-1.631,0,1,0
$FREEZE,4.58,2.563,-1.636,0,1,0
$FREEZE,3.92,2.656,-1.634,0,1,0
$STATE,13146,end climb,SURFACE_DEPTH_REACHED
$STATE,13146,begin surface coast
$FREEZE,3.37,2.590,-1.638,0,1,0
$FREEZE,2.73,2.561,-1.647,0,1,0
$FREEZE,2.22,2.513,-1.653,0,1,0
$FREEZE,1.97,2.724,-0.066,0,1,0
$FREEZE,1.91,2.663,-1.327,0,1,0
$FREEZE,1.97,2.701,-1.623,0,1,0
$FREEZE,1.95,2.611,-1.635,0,1,0
$FINISH,2.0,1.023871
$STATE,13187,end surface coast,CONTROL_FINISHED_OK
$STATE,13187,begin surface
$SM_CCo,13207,101.22,0.826,0,0,587,605.89
$SM_GC,2.93,0.00,0.00,101.22,0.000,0.000,0.826,335,2248,587,-12.77,-0.06,605.89
$RAFOS_CLK,554
$RAFOS,3,1282667103,16.433332,16.417500,96,84,42,42,41,39,808,809,583,1622,410,1791
$RAFOS,2,1282666629,16.299999,16.285833,165,151,46,43,43,43,655,656,1756,382,855,788
$RAFOS,1,1282666141,16.166666,16.150278,121,87,49,40,39,39,570,571,1160,1699,1,1708
$RAFOS,0,1282665662,16.033333,16.017221,104,88,51,44,43,42,654,654,1372,1647,797,1670
$RAFOS,5,1282653668,12.700000,12.685555,44,43,43,42,41,39,1126,294,1884,1059,587,1883
$RAFOS_FIX,6649.102051,-6012.775879,240810,161656,4,122,0.11
$IRIDIUM_FIX,6620.33,-6018.02,181199,121221
$TT8_MAMPS,0.027612
$HUMID,41.77
$INTERNAL_PRESSURE,10.0785
$TCM_TEMP,15.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.2
$24V_AH,22.1,67.535
$10V_AH,10.0,35.253
$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,19.850,72.875,549.675,101.225,0.000,58.267,64.259,375.750,1.750,0.000,16.738,2197.534,8078.176,729.466,2158.795,879.331,0.000,1882.640,0.000,2134.566,1800.000,13.215,0.000
$DEVICE_MAMPS,233.935,161.837,1188.083,826.059,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1018.502,997.542,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135520
$DATA_FILE_SIZE,53536,1401
$CAP_FILE_SIZE,145466,0
$CFSIZE,260165632,216096768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.8
$GPS,240810,164017,6650.890,-6010.960,31,1.4,42,-38.2