version: 66.06
glider: 1
mission: 14
dive: 26
start: 9 25 109 15 0 43
data:
$ID,1
$MISSION,14
$DIVE,26
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$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,412
$T_MISSION,470
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$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,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,375
$N_FILEKB,4
$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,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-219316.17
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,450
$PITCH_MAX,3300
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,300
$ROLL_MAX,3750
$ROLL_DEG,40
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,1
$R_STBD_OVSHOOT,2
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3500
$C_VBD,2500
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,250
$VBD_MAXERRORS,5
$CF8_MAXERRORS,20
$AH0_24V,300
$AH0_10V,200
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,59.825848
$FG_AHR_24V,4.6383629
$PHONE_SUPPLY,2
$PRESSURE_YINT,-0.036699742
$PRESSURE_SLOPE,9.9999997e-05
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0072730002
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,5
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,1
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,32
$GPS_DEVICE,48
$RAFOS_DEVICE,48
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043498399
$SEABIRD_T_H,0.0006493734
$SEABIRD_T_I,2.8112627e-05
$SEABIRD_T_J,3.1957888e-06
$SEABIRD_C_G,-10.106751
$SEABIRD_C_H,1.1366181
$SEABIRD_C_I,0.00038917549
$SEABIRD_C_J,7.9540005e-05
$GPS1,150132,6646.862,-5953.416,27,1.1,28,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,150716,6646.874,-5953.401,25,1.1,25,18.0
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$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,88.4,137177,-14.8,-8.010
$D_GRID,100
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-1.10,-146.6,0.0,0.0,0,106,0.00,0.00,-77.95,0.000,2,0.007,0.000,394,1779,2968,0,0,0,0,0,0
$GC,109,-1.10,-146.6,3.1,-1.8,16,131,10.38,2.88,-3.05,0.000,4,0.000,0.000,2498,494,3057,10,0,14,0,0,0
$GC,205,-0.78,-146.6,24.5,-22.0,31,215,0.30,2.65,-1.62,0.000,6,0.000,0.000,2603,2198,3109,1,0,12,0,0,0
$GC,416,-0.78,-146.6,44.8,-8.9,51,431,0.73,2.80,0.00,0.007,4,0.000,0.000,2453,334,3106,1,0,15,0,0,0
$GC,615,-0.78,-146.6,65.1,-10.1,68,623,0.85,2.90,0.00,0.007,6,0.000,0.000,2634,2251,3110,3,0,12,0,0,0
$GC,941,-0.78,-146.6,97.0,-9.2,99,945,0.73,0.00,0.00,0.007,6,0.000,0.007,2426,2245,3105,2,0,0,0,0,0
$STATE,970,end dive,TARGET_DEPTH_EXCEEDED
$STATE,970,begin apogee
$GC,977,-0.31,0.0,100.1,9.4,102,1105,1.10,0.00,122.55,0.000,6,0.000,0.007,2667,1895,2503,1,0,0,0,0,0
$STATE,1106,end apogee,CONTROL_FINISHED_OK
$STATE,1106,begin climb
$GC,1108,1.10,146.6,112.4,0.0,115,1253,1.67,3.17,119.32,0.000,4,0.000,0.000,3060,438,1911,1,0,19,0,0,0
$GC,1338,2.99,645.3,133.8,-10.2,135,1633,1.42,3.45,261.65,0.000,6,0.000,0.000,3326,2035,638,1,0,21,0,2,0
$GC,1947,3.57,1124.1,187.1,-9.4,194,1964,0.00,0.00,4.43,0.000,6,0.007,0.007,3325,2041,599,0,0,0,0,0,0
$GC,2278,4.13,1579.0,215.5,-8.6,225,2292,0.00,0.00,4.20,0.000,6,0.000,0.007,3330,2040,605,0,0,0,0,0,0
$GC,2607,4.69,2033.7,244.5,-8.6,256,2622,0.00,3.28,0.12,0.007,4,0.000,0.000,3331,459,600,0,0,18,0,0,0
$GC,2875,5.28,2510.9,268.7,-9.4,279,2885,0.00,3.00,1.65,0.000,6,0.007,0.000,3324,2170,601,0,0,12,0,0,0
$GC,3210,5.83,2959.7,297.6,-8.3,311,3216,0.00,2.25,0.12,0.000,4,0.007,0.000,3326,3551,599,0,0,10,0,0,0
$GC,3435,6.39,3416.5,316.6,-8.6,330,3445,0.00,3.12,1.40,0.000,6,0.007,0.000,3326,1802,564,0,0,14,0,0,0
$GC,3770,6.89,3822.5,339.5,-6.8,362,3789,0.00,3.40,0.12,0.007,4,0.007,0.000,3328,3716,591,0,0,19,0,0,0
$GC,4041,7.42,4248.5,358.4,-7.5,385,4052,0.00,3.20,1.17,0.000,6,0.000,0.000,3327,1845,601,0,0,17,0,0,0
$GC,4377,7.94,4676.6,384.9,-7.6,417,4393,0.00,0.00,4.15,0.000,6,0.007,0.000,3327,1845,599,0,0,0,0,0,0
$GC,4707,8.46,5097.5,409.9,-7.3,448,4721,0.00,0.00,4.00,0.000,6,0.007,0.007,3329,1837,583,0,0,0,0,0,0
$GC,5036,8.99,5522.7,433.8,-7.5,479,5052,0.00,3.35,0.12,0.000,4,0.007,0.000,3325,3546,583,0,0,16,0,0,0
$GC,5113,9.57,5999.8,440.1,-9.4,485,5123,0.00,3.72,0.82,0.000,6,0.000,0.000,3323,1912,589,0,0,19,0,0,0
$GC,5448,10.09,6422.5,465.5,-7.4,517,5454,0.00,2.45,0.12,0.000,4,0.007,0.000,3326,539,573,0,0,10,0,0,0
$GC,5482,10.62,6854.6,468.2,-7.7,519,5492,0.00,3.33,1.20,0.000,6,0.007,0.000,3328,2232,581,0,0,17,0,0,0
$GC,5819,11.15,7283.6,495.6,-7.6,551,5831,0.00,0.00,2.20,0.000,6,0.007,0.007,3327,2233,583,0,0,0,0,0,0
$GC,6145,11.68,7716.3,521.7,-7.8,582,6164,0.00,0.00,4.20,0.000,6,0.007,0.007,3327,2235,573,0,0,0,0,0,0
$GC,6478,12.23,8159.8,548.5,-8.1,613,6494,0.00,0.00,4.18,0.000,6,0.000,0.007,3325,2232,568,0,0,0,0,0,0
$GC,6808,12.77,8603.6,574.6,-8.2,644,6825,0.00,3.30,0.12,0.000,4,0.007,0.000,3332,499,564,0,0,17,0,0,0
$GC,7077,13.34,9060.3,597.7,-8.6,667,7084,0.00,2.97,0.00,0.007,6,0.007,0.000,3334,2057,542,0,0,12,0,0,0
$GC,7409,13.90,9520.9,626.6,-8.8,699,7412,0.00,0.00,0.00,0.007,6,0.007,0.007,3328,2058,564,0,0,0,0,0,0
$GC,7729,14.49,10001.2,654.9,-9.5,729,7735,0.00,2.53,0.00,0.007,4,0.007,0.000,3329,3695,566,0,0,12,0,0,0
$GC,7850,15.07,10472.0,665.3,-9.1,739,7866,0.00,2.88,0.00,0.007,6,0.000,0.000,3329,1916,567,0,0,15,0,0,0
$GC,8180,15.60,10904.5,691.3,-7.7,770,8182,0.00,0.00,0.00,0.007,6,0.007,0.000,3325,1909,564,0,0,0,0,0,0
$GC,8501,16.13,11333.0,716.6,-7.6,800,8503,0.00,0.00,0.00,0.007,6,0.007,0.007,3328,1914,567,0,0,0,0,0,0
$GC,8820,16.66,11765.6,740.8,-7.8,830,8822,0.00,0.00,0.00,0.007,6,0.007,0.007,3329,1912,564,0,0,0,0,0,0
$GC,9138,17.81,12071.8,762.3,-3.1,860,9141,0.00,0.00,0.00,0.007,6,0.000,0.007,3329,1910,566,0,0,0,0,0,0
$GC,9457,17.74,12071.8,742.9,9.0,890,9459,0.00,0.00,0.00,0.007,6,0.007,0.007,3325,1915,551,0,0,0,0,0,0
$GC,9776,17.67,12073.1,718.9,8.0,920,9787,0.00,0.00,0.00,0.007,6,0.007,0.007,3322,1915,555,0,0,0,0,0,0
$GC,10104,17.88,12130.8,698.3,5.9,951,10117,0.00,0.00,0.00,0.007,6,0.000,0.007,3326,1911,567,0,0,0,0,0,0
$GC,10433,17.80,12130.8,666.5,10.1,982,10436,0.00,0.00,0.00,0.007,6,0.007,0.007,3328,1913,564,0,0,0,0,0,0
$GC,10753,17.89,12145.8,642.5,7.5,1012,10767,0.00,3.20,0.00,0.007,4,0.007,0.000,3329,3776,563,0,0,17,0,0,0
$GC,10795,17.79,12145.8,638.1,11.0,1015,10804,0.00,3.53,0.00,0.007,6,0.007,0.000,3328,1871,565,0,0,17,0,0,0
$GC,11120,18.01,12199.2,615.8,6.1,1046,11135,0.00,3.62,0.00,0.007,4,0.007,0.000,3326,438,570,0,0,20,0,0,0
$GC,11203,18.01,12199.2,607.7,10.7,1053,11218,0.00,3.50,0.00,0.007,6,0.007,0.000,3329,2329,559,0,0,20,0,0,0
$GC,11532,18.01,12199.2,576.9,10.2,1084,11547,0.00,2.83,0.00,0.007,4,0.000,0.000,3324,3518,565,0,0,15,0,0,0
$GC,11551,17.95,12199.2,574.6,10.7,1085,11560,0.00,2.95,0.00,0.007,6,0.007,0.000,3325,2002,572,0,0,11,0,0,0
$GC,11877,18.04,12199.2,546.7,8.2,1116,11892,0.00,3.03,0.00,0.007,4,0.007,0.000,3326,312,554,0,0,17,0,0,0
$GC,11916,18.18,12202.5,543.3,7.9,1119,11934,0.00,3.15,0.00,0.007,6,0.007,0.000,3325,2145,579,0,0,17,0,0,0
$GC,12248,18.02,12202.5,502.6,12.4,1150,12263,0.00,3.05,0.00,0.007,4,0.007,0.000,3332,3607,555,0,0,16,0,0,0
$GC,12297,18.02,12202.5,497.2,9.3,1154,12312,0.00,3.10,0.00,0.007,6,0.007,0.000,3328,1861,565,0,0,12,0,0,0
$GC,12626,18.09,12202.5,468.1,8.8,1185,12628,0.00,0.00,0.00,0.000,6,0.007,0.007,3326,1863,565,0,0,0,0,0,0
$GC,12946,18.09,12202.5,438.6,9.2,1215,12964,0.00,3.08,0.00,0.007,4,0.007,0.000,3325,3480,562,0,0,14,0,0,0
$GC,13010,18.03,12202.5,432.4,10.4,1220,13026,0.00,3.08,0.00,0.007,6,0.007,0.000,3326,2020,569,0,0,14,0,0,0
$GC,13339,18.03,12202.5,400.9,9.4,1251,13357,0.00,3.42,0.00,0.007,4,0.007,0.000,3326,458,644,0,0,18,0,0,0
$GC,13384,18.11,12202.5,396.4,9.9,1254,13391,0.00,3.38,0.00,0.007,6,0.000,0.000,3328,2222,568,0,0,14,0,0,0
$GC,13715,18.11,12202.5,361.9,10.6,1286,13721,0.00,2.50,0.00,0.007,4,0.007,0.000,3325,3677,564,0,0,13,0,0,0
$GC,13760,17.99,12202.5,356.6,11.8,1289,13770,0.00,3.92,0.00,0.000,6,0.007,0.000,3327,1767,565,0,0,23,0,0,0
$GC,14095,18.19,12241.3,332.7,6.6,1321,14101,0.00,2.50,0.00,0.000,4,0.007,0.000,3329,384,566,0,0,11,0,0,0
$GC,14157,18.19,12241.3,325.7,12.6,1326,14173,0.00,2.88,0.00,0.007,6,0.007,0.000,3330,2124,565,0,0,14,0,0,0
$GC,14487,18.24,12241.3,293.2,9.3,1357,14502,0.00,3.03,0.00,0.007,4,0.000,0.000,3326,3475,564,0,0,18,0,0,0
$GC,14526,18.24,12241.3,288.9,11.0,1360,14532,0.00,2.42,0.00,0.007,6,0.007,0.000,3330,1911,567,0,0,12,0,0,0
$GC,14849,18.24,12241.3,255.8,10.1,1390,14864,0.00,3.25,0.00,0.007,4,0.007,0.000,3328,465,568,0,0,16,0,0,0
$GC,14914,18.34,12241.3,249.3,10.0,1395,14922,0.00,3.38,0.00,0.000,6,0.007,0.000,3326,2352,571,0,0,19,0,0,0
$GC,15238,18.34,12241.3,217.0,9.7,1426,15244,0.00,2.05,0.00,0.007,4,0.007,0.000,3327,3554,562,0,0,11,0,0,0
$GC,15267,18.34,12241.3,214.0,10.5,1428,15281,0.00,2.95,0.00,0.007,6,0.007,0.000,3328,1943,561,0,0,13,0,0,0
$GC,15595,18.34,12241.3,178.3,10.6,1459,15601,0.00,2.45,0.00,0.007,4,0.007,0.000,3332,578,564,0,0,12,0,0,0
$GC,15640,18.40,12241.3,173.7,9.7,1462,15646,0.00,3.12,0.00,0.000,6,0.007,0.000,3328,2151,567,0,0,15,0,0,0
$GC,15972,18.40,12241.3,141.0,9.8,1494,15974,0.00,0.00,0.00,0.007,6,0.007,0.007,3327,2155,563,0,0,0,0,0,0
$GC,16292,18.40,12241.3,109.6,9.5,1524,16306,0.00,2.90,0.00,0.000,4,0.007,0.000,3329,505,566,0,0,14,0,0,0
$GC,16329,18.46,12241.3,105.8,9.5,1527,16347,0.00,3.15,0.00,0.007,6,0.007,0.000,3328,2213,560,0,0,14,0,0,0
$GC,16660,18.46,12241.3,75.3,8.8,1558,16663,0.00,0.00,0.00,0.007,6,0.007,0.000,3326,2214,565,0,0,0,0,0,0
$GC,16982,18.49,12260.7,50.9,7.3,1588,16988,0.00,2.33,0.00,0.007,4,0.007,0.000,3328,3559,569,0,0,12,0,0,0
$GC,17034,18.43,12260.7,46.1,10.3,1592,17048,0.00,3.15,0.00,0.007,6,0.007,0.000,3327,1982,562,0,0,17,0,0,0
$GC,17234,18.43,12260.7,24.7,10.0,1611,17240,0.00,2.55,0.00,0.007,4,0.000,0.000,3328,457,566,0,0,12,0,0,0
$STATE,17485,end climb,SURFACE_DEPTH_REACHED
$STATE,17485,begin surface coast
$FINISH,0.1,1.012198
$STATE,17516,end surface coast,CONTROL_FINISHED_OK
$STATE,17516,begin surface
$SM_CCo,17606,0.00,0.000,0,0,566,474.41
$SM_GC,0.06,14.60,0.00,0.00,0.000,0.007,0.000,377,2366,566,-10.49,9.56,474.41
$SUPER,3,206,254,0,0,0
$RAFOS_CLK,0
$RAFOS,4,1253897051,16.750000,16.736389,80,0,0,0,0,0,729,0,0,0,0,0
$RAFOS,3,1253896448,16.583334,16.568890,80,0,0,0,0,0,709,0,0,0,0,0
$RAFOS,2,1253895845,16.416666,16.401388,80,0,0,0,0,0,866,0,0,0,0,0
$RAFOS,1,1253895241,16.250000,16.233612,80,0,0,0,0,0,659,0,0,0,0,0
$RAFOS,0,1253894646,16.083334,16.068333,80,0,0,0,0,0,535,0,0,0,0,0
$RAFOS_FIX,6642.777344,-6130.985840,250909,161601,5,80,15.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078205927
$INTERNAL_PRESSURE,16.2884
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,190.780
$10V_AH,10.7,32.070
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,59.985
$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,31.775,157.925,537.875,0.000,0.000,0.000,0.000,105.096,0.000,0.000,25.298,2857.637,11922.014,1108.683,1499.848,558.978,0.000,1314.221,0.000,1427.220,1800.000,5.311,0.000
$DEVICE_MAMPS,119.000,60.000,1300.000,0.000,0.000,103.000,0.000,223.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,26.000,1.500,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1008.282,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330244
$DATA_FILE_SIZE,56750,1656
$CAP_FILE_SIZE,191174,1
$CFSIZE,260165632,252006400
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,33,791,2,0
$SOUNDSPEED,1457.4
$CURRENT,0.062,142.0,1
$GPS,250909,200311,6645.640,-5946.491,24,1.1,24,18.0