version: 66.06
glider: 108
mission: 14
dive: 457
start: 9 13 110 4 34 5
data:
$ID,108
$MISSION,14
$DIVE,457
$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,2
$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,-185050.02
$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,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,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
$GPS1,042731,6647.595,-6014.919,38,1.4,38,-38.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.90
$_SM_ANGLEo,-75.0
$GPS2,043343,6647.626,-6014.925,11,1.4,11,-38.1
$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,148.8,152118,-18.1,-10.000
$D_GRID,561
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.78,-146.1,0.0,0.0,0,34,0.00,0.00,-14.48,0.000,2,0.000,0.000,332,2253,916,0,0,0,0,0,0
$GC,38,-0.78,-146.1,3.0,-0.3,3,183,10.25,2.22,-125.38,0.000,4,0.226,0.091,2929,3596,3655,0,0,0,0,0,0
$GC,291,-0.78,-146.1,27.5,-17.0,48,296,0.00,2.17,0.00,0.000,6,0.000,0.056,2929,2238,3660,0,0,0,0,0,0
$GC,634,-0.78,-146.1,69.7,-12.6,109,641,0.00,2.25,0.00,0.000,4,0.000,0.064,2929,838,3665,0,0,0,0,0,0
$GC,658,-0.78,-146.1,72.6,-12.4,113,665,0.10,2.38,0.00,0.000,6,0.158,0.069,2947,2261,3665,0,0,0,0,0,0
$GC,1006,-0.78,-146.1,108.3,-10.5,168,1010,0.00,2.17,0.00,0.000,4,0.000,0.081,2939,3595,3666,0,0,0,0,0,0
$GC,1069,-0.78,-146.1,114.7,-10.8,173,1073,0.00,2.15,0.00,0.000,6,0.000,0.056,2939,2247,3666,0,0,0,0,0,0
$GC,1394,-0.78,-146.1,148.4,-10.9,203,1398,0.00,2.25,0.00,0.000,4,0.000,0.066,2939,842,3666,0,0,0,0,0,0
$GC,1417,-0.78,-146.1,150.9,-10.6,205,1422,0.00,2.33,0.00,0.000,6,0.000,0.070,2930,2248,3666,0,0,0,0,0,0
$GC,1742,-0.78,-146.1,186.0,-10.3,235,1746,0.00,2.20,0.00,0.000,4,0.000,0.082,2919,3602,3666,0,0,0,0,0,0
$GC,1817,-0.78,-146.1,193.9,-11.3,241,1822,0.10,2.17,0.00,0.000,6,0.156,0.057,2946,2242,3665,0,0,0,0,0,0
$GC,2142,-0.78,-146.1,222.5,-8.4,271,2146,0.00,2.28,0.00,0.000,4,0.000,0.067,2946,837,3665,0,0,0,0,0,0
$GC,2187,-0.78,-146.1,226.4,-8.2,274,2193,0.00,2.38,0.00,0.000,6,0.000,0.071,2939,2255,3665,0,0,0,0,0,0
$GC,2512,-0.78,-146.1,253.2,-8.2,305,2516,0.00,2.20,0.00,0.000,4,0.000,0.083,2930,3604,3664,0,0,0,0,0,0
$GC,2558,-0.78,-146.1,257.2,-9.1,308,2565,0.00,2.17,0.00,0.000,6,0.000,0.058,2930,2247,3664,0,0,0,0,0,0
$GC,2883,-0.78,-146.1,285.9,-9.0,339,2887,0.00,2.25,0.00,0.000,4,0.000,0.067,2930,841,3664,0,0,0,0,0,0
$GC,2912,-0.78,-146.1,288.6,-9.7,341,2916,0.00,2.35,0.00,0.000,6,0.000,0.070,2920,2256,3664,0,0,0,0,0,0
$GC,3238,-0.78,-146.1,319.2,-8.9,371,3242,0.10,2.20,0.00,0.000,4,0.160,0.081,2941,3597,3663,0,0,0,0,0,0
$GC,3259,-0.78,-146.1,321.2,-8.6,372,3265,0.00,2.17,0.00,0.000,6,0.000,0.056,2940,2236,3663,0,0,0,0,0,0
$GC,3585,-0.78,-146.1,346.1,-7.5,403,3589,0.00,2.25,0.00,0.000,4,0.000,0.067,2941,843,3663,0,0,0,0,0,0
$GC,3614,-0.78,-146.1,348.4,-8.2,405,3618,0.00,2.35,0.00,0.000,6,0.000,0.070,2931,2260,3663,0,0,0,0,0,0
$GC,3939,-0.78,-146.1,372.3,-7.0,435,3942,0.00,2.17,0.00,0.000,4,0.000,0.081,2921,3599,3663,0,0,0,0,0,0
$GC,3978,-0.78,-146.1,375.2,-7.9,438,3984,0.00,2.15,0.00,0.000,6,0.000,0.056,2921,2246,3663,0,0,0,0,0,0
$GC,4303,-0.78,-146.1,399.7,-7.9,469,4304,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2246,3663,0,0,0,0,0,0
$GC,4624,-0.78,-146.1,424.7,-8.0,499,4628,0.00,2.28,0.00,0.000,4,0.000,0.065,2921,830,3663,0,0,0,0,0,0
$GC,4659,-0.78,-146.1,427.7,-8.7,502,4664,0.12,2.38,0.00,0.000,6,0.143,0.069,2948,2255,3664,0,0,0,0,0,0
$GC,4990,-0.78,-146.1,449.4,-6.4,533,4991,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2254,3663,0,0,0,0,0,0
$GC,5311,-0.78,-146.1,469.8,-6.4,563,5316,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2255,3663,0,0,0,0,0,0
$GC,5640,-0.78,-146.1,491.1,-6.8,594,5645,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2254,3663,0,0,0,0,0,0
$GC,5965,-0.78,-146.1,512.4,-6.7,625,5969,0.00,2.20,0.00,0.000,4,0.000,0.079,2940,3600,3664,0,0,0,0,0,0
$GC,5993,-0.78,-146.1,514.5,-7.9,627,5999,0.00,2.15,0.00,0.000,6,0.000,0.054,2940,2245,3664,0,0,0,0,0,0
$GC,6319,-0.78,-146.1,536.5,-6.6,658,6320,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2245,3664,0,0,0,0,0,0
$GC,6640,-0.78,-146.1,558.1,-7.1,688,6645,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2245,3664,0,0,0,0,0,0
$STATE,6686,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6686,begin apogee
$GC,6693,-0.17,0.0,561.7,6.8,693,6822,0.40,0.00,121.85,1.167,6,0.112,0.000,3076,2199,3058,0,0,0,0,0,0
$STATE,6822,end apogee,CONTROL_FINISHED_OK
$STATE,6822,begin climb
$GC,6825,0.78,146.1,566.4,0.0,706,6967,0.60,2.62,129.30,1.108,4,0.062,0.072,3293,3592,2462,0,0,0,0,0,0
$GC,7002,0.81,171.0,558.6,8.9,723,7034,0.00,2.42,23.67,1.026,6,0.000,0.051,3302,2197,2360,0,0,0,0,0,0
$GC,7352,0.83,186.3,527.0,9.3,756,7374,0.00,2.42,13.82,1.005,4,0.000,0.074,3302,3600,2298,0,0,0,0,0,0
$GC,7398,0.83,186.3,522.6,10.6,760,7402,0.00,2.28,0.00,0.000,6,0.000,0.052,3312,2195,2299,0,0,0,0,0,0
$GC,7723,0.85,201.0,492.3,9.3,790,7742,0.00,0.00,13.90,1.016,6,0.000,0.000,3312,2195,2237,0,0,0,0,0,0
$GC,8062,0.85,201.0,459.7,10.1,822,8066,0.00,2.22,0.00,0.000,4,0.000,0.062,3322,791,2238,0,0,0,0,0,0
$GC,8102,0.85,201.0,455.4,10.4,825,8107,0.10,2.35,0.00,0.000,6,0.164,0.064,3297,2212,2239,0,0,0,0,0,0
$GC,8427,0.88,224.8,424.8,8.9,855,8454,0.00,2.25,21.35,1.035,4,0.000,0.073,3297,3593,2140,0,0,0,0,0,0
$GC,8512,0.88,224.8,416.2,11.3,862,8517,0.00,2.22,0.00,0.000,6,0.000,0.051,3304,2195,2139,0,0,0,0,0,0
$GC,8838,0.90,244.6,384.9,9.1,892,8861,0.00,2.33,17.62,0.999,4,0.000,0.062,3314,790,2060,0,0,0,0,0,0
$GC,8900,0.91,250.1,378.9,9.8,897,8912,0.00,2.35,6.30,0.822,6,0.000,0.064,3314,2201,2038,0,0,0,0,0,0
$GC,9232,0.91,250.1,342.8,11.5,928,9236,0.00,2.28,0.00,0.000,4,0.000,0.074,3314,3605,2038,0,0,0,0,0,0
$GC,9283,0.91,250.1,336.2,12.9,932,9287,0.00,2.20,0.00,0.000,6,0.000,0.052,3324,2201,2036,0,0,0,0,0,0
$GC,9609,0.91,250.1,297.7,11.2,962,9613,0.00,2.22,0.00,0.000,4,0.000,0.061,3335,794,2036,0,0,0,0,0,0
$GC,9664,0.91,250.1,291.3,10.8,966,9670,0.10,2.33,0.00,0.000,6,0.163,0.064,3308,2211,2037,0,0,0,0,0,0
$GC,9990,0.91,253.6,259.7,9.8,997,10002,0.00,2.28,3.75,0.617,4,0.000,0.076,3308,3586,2025,0,0,0,0,0,0
$GC,10041,0.91,253.6,253.9,11.4,1001,10048,0.00,2.20,0.00,0.000,6,0.000,0.052,3315,2195,2025,0,0,0,0,0,0
$GC,10367,0.98,308.1,224.5,7.5,1032,10422,0.00,2.35,47.78,0.959,4,0.000,0.062,3326,796,1802,0,0,0,0,0,0
$GC,10467,1.05,367.2,217.2,7.3,1041,10525,0.00,2.35,52.03,0.919,6,0.000,0.064,3326,2208,1561,0,0,0,0,0,0
$GC,10843,1.06,370.7,181.8,9.8,1077,10848,0.00,2.28,0.00,0.000,4,0.000,0.077,3326,3601,1553,0,0,0,0,0,0
$GC,10877,1.06,370.7,178.2,11.1,1079,10882,0.00,2.25,0.00,0.000,6,0.000,0.053,3335,2191,1551,0,0,0,0,0,0
$GC,11202,1.06,370.7,146.5,10.2,1110,11206,0.00,2.25,0.00,0.000,4,0.000,0.064,3346,791,1549,0,0,0,0,0,0
$GC,11276,1.08,386.4,139.6,9.3,1116,11298,0.00,2.33,15.73,0.863,6,0.000,0.065,3346,2205,1482,0,0,0,0,0,0
$GC,11616,1.11,412.2,108.5,8.8,1148,11647,0.00,2.33,23.30,0.881,4,0.000,0.080,3345,3593,1377,0,0,0,0,0,0
$GC,11664,1.11,412.2,103.7,10.1,1152,11670,0.00,2.25,0.00,0.000,6,0.000,0.054,3355,2196,1376,0,0,0,0,0,0
$GC,12005,1.16,450.0,70.5,8.3,1210,12048,0.00,2.38,32.80,0.874,4,0.000,0.067,3365,786,1222,0,0,0,0,0,0
$GC,12114,1.24,515.5,62.8,7.0,1229,12177,0.00,2.38,55.45,0.852,6,0.000,0.067,3365,2197,956,0,0,0,0,0,0
$GC,12516,1.32,579.6,33.4,7.1,1301,12578,0.12,2.42,52.58,0.837,4,0.091,0.081,3428,3604,694,0,0,0,0,0,0
$GC,12591,1.32,579.6,24.7,12.1,1315,12597,0.15,2.30,0.00,0.000,6,0.137,0.057,3394,2202,693,0,0,0,0,0,0
$FREEZE,8.76,4.177,-1.708,0,1,0
$FREEZE,8.15,4.146,-1.709,0,1,0
$FREEZE,7.54,4.137,-1.708,0,1,0
$FREEZE,6.87,4.021,-1.706,0,1,0
$FREEZE,6.30,4.031,-1.700,0,1,0
$FREEZE,5.77,4.052,-1.698,0,1,0
$FREEZE,5.07,4.022,-1.700,0,1,0
$FREEZE,4.47,4.007,-1.702,0,1,0
$FREEZE,3.82,3.994,-1.702,0,1,0
$STATE,12809,end climb,SURFACE_DEPTH_REACHED
$STATE,12809,begin surface coast
$FREEZE,3.08,3.998,-1.701,0,1,0
$FREEZE,2.50,3.994,-1.697,0,1,0
$FREEZE,2.10,3.703,-0.198,0,1,0
$FREEZE,2.07,3.848,-0.945,0,1,0
$FREEZE,2.01,3.897,-0.815,0,1,0
$FREEZE,2.10,3.917,-0.827,0,1,0
$FINISH,2.1,1.012126
$STATE,12844,end surface coast,CONTROL_FINISHED_OK
$STATE,12844,begin surface
$SM_CCo,12863,20.95,0.803,0,0,588,605.89
$SM_GC,2.82,0.00,0.00,20.95,0.000,0.000,0.803,335,2274,588,-12.77,0.68,605.89
$RAFOS_CLK,526
$RAFOS,0,1284364862,8.033334,8.017222,50,44,44,42,42,39,1054,1267,1053,111,1775,249
$RAFOS,6,1284353346,4.833333,4.818333,114,106,45,41,41,40,804,805,1189,924,151,1579
$RAFOS,5,1284352863,4.700000,4.684166,46,46,46,43,42,42,471,1744,1832,112,322,442
$RAFOS_FIX,6646.979492,-6007.835938,130910,040412,2,100,61.07
$IRIDIUM_FIX,6614.97,-6015.98,081299,010116
$TT8_MAMPS,0.026845
$HUMID,43.62
$INTERNAL_PRESSURE,10.098
$TCM_TEMP,15.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,17.4
$24V_AH,21.9,85.914
$10V_AH,10.0,43.860
$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,20.325,123.200,631.225,20.950,0.000,24.829,31.972,158.029,2.250,0.000,12.904,2354.712,7391.734,753.746,2162.131,592.066,0.000,1936.192,0.000,2136.277,1080.000,19.171,0.000
$DEVICE_MAMPS,226.265,161.837,1166.607,803.049,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,983.175,965.516,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135556
$DATA_FILE_SIZE,53611,1360
$CAP_FILE_SIZE,151161,0
$CFSIZE,260165632,208003072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.4
$CURRENT,0.055,167.6,1
$GPS,130910,081031,6646.514,-6010.573,41,0.9,41,-38.1