version: 66.07
glider: 22
mission: 14
dive: 108
start: 11 16 109 20 4 30
data:
$ID,22
$MISSION,14
$DIVE,108
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,330
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52177
$NAV_MODE,2
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0040048002
$HD_B,0.010364
$HD_C,5.4717998e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,19.66667
$TGT_DEFAULT_LON,-156.10001
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-250660.06
$T_RSLEEP,5
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,380
$PITCH_MAX,3641
$C_PITCH,2495
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,18
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,150
$ROLL_MAX,3954
$ROLL_DEG,40
$C_ROLL_DIVE,2920
$C_ROLL_CLIMB,2750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3841
$C_VBD,2618
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,1
$AH0_24V,91.800003
$AH0_10V,61.200001
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-22.757658
$PRESSURE_SLOPE,0.00011632
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,1.7
$TCM_ROLL_OFFSET,-0.89999998
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,15
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,69
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,19
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044149966
$SEABIRD_T_H,0.00064680085
$SEABIRD_T_I,2.5778523e-05
$SEABIRD_T_J,2.7323422e-06
$SEABIRD_C_G,-10.507483
$SEABIRD_C_H,1.1800622
$SEABIRD_C_I,-0.00046262925
$SEABIRD_C_J,0.00014728548
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,50000.0
$GPS1,161109,195937,1924.274,-15558.212,41,1.6,41,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-68.4
$GPS2,161109,200350,1924.367,-15558.260,17,1.6,17,9.7
$SPEED_LIMITS,0.143,0.294
$TGT_NAME,VM
$TGT_LATLONG,1924.000,-15558.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.257,-0.143
$KALMAN_X,-253734.8,1044.4,831.6,282010.7,-12043.1
$KALMAN_Y,75832.7,12.5,-1357.0,-133722.9,6286.5
$MHEAD_RNG_PITCHd_Wd,136.5,817,-33.1,-10.000
$D_GRID,990
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-1.89,-45.7,0.0,0.0,0,85,0.00,0.00,-71.57,0.000,2,0.000,0.000,375,2926,2601,0,0,0,0,0,0
$GC,88,-1.91,-62.8,3.2,-7.5,14,109,9.27,2.47,-7.62,0.000,4,0.162,0.058,2074,1511,2875,0,0,0,0,0,0
$GC,294,-1.91,-62.8,61.0,-22.9,39,301,0.00,2.45,0.00,0.000,6,0.000,0.044,2074,2921,2878,0,0,0,0,0,0
$GC,486,-1.91,-62.8,102.0,-22.6,58,487,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2920,2880,0,0,0,0,0,0
$GC,789,-1.91,-62.8,166.5,-21.3,68,793,0.00,1.83,0.00,0.000,4,0.000,0.054,2074,3949,2881,0,0,0,0,0,0
$GC,864,-1.91,-62.8,182.7,-22.6,70,868,0.00,1.75,0.00,0.000,6,0.000,0.037,2074,2886,2882,0,0,0,0,0,0
$GC,1189,-1.91,-62.8,246.5,-18.9,81,1192,0.00,2.22,0.00,0.000,4,0.000,0.041,2074,1534,2884,0,0,0,0,0,0
$GC,1220,-1.91,-62.8,252.6,-19.0,82,1224,0.00,2.40,0.00,0.000,6,0.000,0.044,2074,2921,2884,0,0,0,0,0,0
$GC,1585,-1.91,-62.8,310.6,-14.5,93,1590,0.00,1.80,0.00,0.000,4,0.000,0.056,2074,3943,2885,0,0,0,0,0,0
$GC,1831,-1.91,-62.8,351.0,-17.4,96,1835,0.00,1.70,0.00,0.000,6,0.000,0.040,2074,2929,2885,0,0,0,0,0,0
$GC,2143,-1.91,-62.8,398.5,-15.0,102,2147,0.00,1.83,0.00,0.000,4,0.000,0.057,2073,3947,2884,0,0,0,0,0,0
$GC,2351,-1.91,-62.8,429.3,-13.0,105,2355,0.00,1.75,0.00,0.000,6,0.000,0.041,2074,2912,2883,0,0,0,0,0,0
$GC,2701,-1.91,-62.8,475.0,-12.9,111,2705,0.00,1.88,0.00,0.000,4,0.000,0.058,2074,3953,2881,0,0,0,0,0,0
$GC,2887,-1.91,-62.8,502.0,-14.8,113,2894,0.00,1.77,0.00,0.000,6,0.000,0.041,2074,2915,2880,0,0,0,0,0,0
$GC,3194,-1.91,-62.8,544.5,-13.8,119,3198,0.00,1.88,0.00,0.000,4,0.000,0.061,2074,3947,2878,0,0,0,0,0,0
$GC,3440,-1.91,-62.8,580.3,-14.9,122,3444,0.00,1.77,0.00,0.000,6,0.000,0.043,2074,2925,2875,0,0,0,0,0,0
$GC,3752,-1.91,-62.8,620.2,-12.8,128,3756,0.00,1.88,0.00,0.000,4,0.000,0.064,2075,3943,2872,0,0,0,0,0,0
$GC,3960,-1.91,-62.8,649.4,-14.5,131,3965,0.00,1.80,0.00,0.000,6,0.000,0.044,2074,2918,2871,0,0,0,0,0,0
$GC,4310,-1.91,-62.8,690.0,-11.2,137,4314,0.00,1.92,0.00,0.000,4,0.000,0.073,2076,3943,2868,0,0,0,0,0,0
$GC,4555,-1.91,-62.8,720.7,-11.1,140,4560,0.00,1.83,0.00,0.000,6,0.000,0.050,2074,2932,2867,0,0,0,0,0,0
$GC,4868,-1.91,-62.8,753.7,-10.5,146,4872,0.00,1.92,0.00,0.000,4,0.000,0.081,2074,3935,2866,0,0,0,0,0,0
$GC,5049,-1.91,-62.8,775.2,-12.0,148,5053,0.00,1.88,0.00,0.000,6,0.000,0.061,2074,2922,2864,0,0,0,0,0,0
$GC,5361,-1.91,-65.1,806.3,-9.7,154,5365,0.00,2.70,0.00,0.000,4,0.000,0.094,2074,1507,2862,0,0,0,0,0,0
$GC,5404,-1.92,-68.2,810.3,-9.5,154,5408,0.00,2.70,0.00,0.000,6,0.000,0.088,2074,2900,2862,0,0,0,0,0,0
$GC,5727,-1.92,-68.2,845.2,-10.9,160,5731,0.00,2.15,0.00,0.000,4,0.000,0.120,2074,3959,2859,0,0,0,0,0,0
$GC,5748,-1.92,-68.2,847.8,-12.7,160,5752,0.00,2.05,0.00,0.000,6,0.000,0.092,2075,2924,2859,0,0,0,0,0,0
$GC,6092,-1.92,-68.2,888.4,-11.5,166,6096,0.00,2.22,0.00,0.000,4,0.000,0.137,2074,3955,2858,0,0,0,0,0,0
$GC,6129,-1.92,-68.2,892.7,-11.7,166,6133,0.00,2.17,0.00,0.000,6,0.000,0.116,2075,2914,2857,0,0,0,0,0,0
$GC,6457,-1.92,-68.2,926.9,-10.3,172,6462,0.00,2.35,0.00,0.000,4,0.000,0.161,2074,3948,2856,0,0,0,0,0,0
$GC,6510,-1.92,-68.2,932.6,-11.3,172,6514,0.00,2.28,0.00,0.000,6,0.000,0.142,2074,2915,2856,0,0,0,0,0,0
$GC,6823,-1.92,-71.6,962.9,-9.5,178,6827,0.00,2.47,0.00,0.000,4,0.000,0.186,2074,3952,2855,0,0,0,0,0,0
$GC,6913,-1.92,-71.7,972.0,-10.0,179,6918,0.00,2.42,0.00,0.000,6,0.000,0.172,2074,2914,2855,0,0,0,0,0,0
$STATE,7129,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7129,begin apogee
$GC,7134,-0.28,0.0,991.4,8.8,183,7194,1.85,0.00,55.67,1.310,6,0.134,0.000,2431,2740,2618,0,0,0,0,0,0
$STATE,7194,end apogee,CONTROL_FINISHED_OK
$STATE,7194,begin climb
$GC,7196,1.92,71.7,991.6,0.0,184,7272,2.28,0.00,71.25,1.289,6,0.081,0.000,2912,2740,2325,0,0,0,0,0,0
$GC,7559,1.92,71.7,932.1,18.2,190,7563,0.00,3.03,0.00,0.000,4,0.000,0.153,2912,1329,2314,0,0,0,0,0,0
$GC,7654,1.92,71.7,914.7,18.1,191,7658,0.00,2.97,0.00,0.000,6,0.000,0.125,2911,2759,2313,0,0,0,0,0,0
$GC,7982,1.92,71.7,856.4,17.7,197,7986,0.00,2.85,0.00,0.000,4,0.000,0.104,2912,1322,2310,0,0,0,0,0,0
$GC,8093,1.92,71.7,837.4,16.3,198,8098,0.00,2.80,0.00,0.000,6,0.000,0.088,2912,2754,2310,0,0,0,0,0,0
$GC,8411,1.92,71.7,785.3,16.6,204,8416,0.00,2.72,0.00,0.000,4,0.000,0.081,2912,1331,2309,0,0,0,0,0,0
$GC,8635,1.92,71.7,749.5,15.6,207,8639,0.00,2.65,0.00,0.000,6,0.000,0.063,2912,2760,2310,0,0,0,0,0,0
$GC,8969,1.92,71.7,698.9,15.1,213,8973,0.00,2.60,0.00,0.000,4,0.000,0.061,2912,1320,2307,0,0,0,0,0,0
$GC,9108,1.92,71.7,678.4,14.3,215,9112,0.00,2.58,0.00,0.000,6,0.000,0.054,2912,2768,2307,0,0,0,0,0,0
$GC,9463,1.92,71.7,624.1,15.4,221,9466,0.00,2.60,0.00,0.000,4,0.000,0.057,2912,1311,2306,0,0,0,0,0,0
$GC,9564,1.92,71.7,608.3,15.7,222,9568,0.00,2.55,0.00,0.000,6,0.000,0.050,2912,2761,2306,0,0,0,0,0,0
$GC,9892,1.92,71.7,558.5,15.2,228,9896,0.00,2.60,0.00,0.000,4,0.000,0.053,2912,1311,2305,0,0,0,0,0,0
$GC,9950,1.92,71.7,550.1,14.9,228,9956,0.00,2.58,0.00,0.000,6,0.000,0.048,2912,2760,2305,0,0,0,0,0,0
$GC,10257,1.92,71.7,510.2,12.7,234,10262,0.00,2.58,0.00,0.000,4,0.000,0.051,2912,1316,2305,0,0,0,0,0,0
$GC,10321,1.92,71.7,502.3,11.3,235,10325,0.00,2.55,0.00,0.000,6,0.000,0.047,2912,2757,2305,0,0,0,0,0,0
$GC,10687,1.92,71.7,461.9,10.7,241,10688,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2757,2304,0,0,0,0,0,0
$GC,10989,1.92,71.7,429.9,10.6,246,10992,0.00,2.53,0.00,0.000,4,0.000,0.049,2912,1305,2303,0,0,0,0,0,0
$GC,11068,1.92,71.7,421.3,11.0,247,11072,0.00,2.55,0.00,0.000,6,0.000,0.044,2910,2757,2304,0,0,0,0,0,0
$GC,11418,1.92,71.7,383.6,10.9,253,11422,0.00,2.53,0.00,0.000,4,0.000,0.048,2912,1301,2303,0,0,0,0,0,0
$GC,11563,1.93,78.3,369.7,9.0,255,11567,0.00,2.53,0.00,0.000,6,0.000,0.044,2912,2769,2304,0,0,0,0,0,0
$GC,11906,1.93,85.0,339.3,9.0,261,11921,0.00,2.60,9.70,0.810,4,0.000,0.048,2911,1314,2271,0,0,0,0,0,0
$GC,12162,1.93,85.0,312.7,10.6,265,12166,0.00,2.53,0.00,0.000,6,0.000,0.043,2912,2757,2270,0,0,0,0,0,0
$GC,12498,1.95,98.9,283.0,8.0,273,12517,0.00,2.20,13.38,0.799,4,0.000,0.057,2912,3946,2214,0,0,0,0,0,0
$GC,12583,1.95,98.9,275.3,10.2,275,12586,0.00,2.17,0.00,0.000,6,0.000,0.040,2912,2692,2212,0,0,0,0,0,0
$GC,12897,1.96,105.1,245.4,9.1,286,12910,0.00,2.45,7.05,0.693,4,0.000,0.047,2912,1313,2189,0,0,0,0,0,0
$GC,13152,1.97,116.0,221.5,8.4,294,13167,0.00,2.53,11.70,0.733,6,0.000,0.042,2912,2760,2144,0,0,0,0,0,0
$GC,13480,1.97,116.0,187.9,11.5,305,13484,0.00,2.53,0.00,0.000,4,0.000,0.044,2912,1313,2141,0,0,0,0,0,0
$GC,13673,1.98,123.8,168.1,8.9,311,13687,0.00,2.47,8.02,0.653,6,0.000,0.041,2912,2766,2112,0,0,0,0,0,0
$GC,14007,1.98,128.7,136.2,9.3,322,14017,0.00,2.55,5.68,0.566,4,0.000,0.044,2912,1298,2093,0,0,0,0,0,0
$GC,14210,1.99,133.9,118.3,9.3,328,14220,0.00,2.47,6.53,0.568,6,0.000,0.039,2911,2760,2072,0,0,0,0,0,0
$GC,14531,2.00,143.4,90.6,8.6,345,14545,0.00,2.10,10.02,0.584,4,0.000,0.052,2912,3954,2032,0,0,0,0,0,0
$GC,14785,2.00,143.4,63.5,10.7,368,14791,0.00,2.12,0.00,0.000,6,0.000,0.036,2912,2687,2030,0,0,0,0,0,0
$GC,14977,2.05,193.8,55.8,2.7,387,15030,0.12,2.30,44.28,0.586,4,0.091,0.050,2942,3944,1827,0,0,0,0,0,0
$GC,15271,2.05,193.8,23.2,15.4,414,15276,0.00,2.08,0.00,0.000,6,0.000,0.036,2943,2691,1821,0,0,0,0,0,0
$STATE,15428,end climb,SURFACE_DEPTH_REACHED
$STATE,15428,begin surface coast
$FINISH,0.1,1.009229
$STATE,15449,end surface coast,CONTROL_FINISHED_OK
$STATE,15449,begin surface
$SM_CCo,15467,110.00,0.507,0,0,986,400.08
$SM_GC,0.80,0.00,0.00,110.00,0.000,0.000,0.507,372,2948,986,-9.77,0.79,400.08
$IRIDIUM_FIX,1918.37,-15559.47,120511,101036
$TT8_MAMPS,0.059059
$HUMID,1078600635
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,22.9,19.133
$10V_AH,10.0,45.276
$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,24.725,143.975,243.275,110.000,0.000,30.988,29.369,102.157,0.000,0.000,17.696,0.000,12715.938,511.802,2196.994,395.380,33.349,1489.911,0.000,1857.224,0.000,0.532,0.000
$DEVICE_MAMPS,161.837,197.119,1310.036,506.987,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,298.603,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353800
$DATA_FILE_SIZE,15859,446
$CAP_FILE_SIZE,133280,0
$CFSIZE,260034560,248795136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.055,  1.5,1
$GPS,171109,002507,1923.687,-15557.746,39,1.3,39,9.7