version: 66.06
glider: 1
mission: 14
dive: 67
start: 10 5 109 11 20 16
data:
$ID,1
$MISSION,14
$DIVE,67
$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,470
$T_MISSION,530
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-3
$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,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0035999999
$HD_B,0.014
$HD_C,6.1000001e-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,275
$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,-220438.52
$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,10
$R_STBD_OVSHOOT,11
$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,67.930481
$FG_AHR_24V,4.638402
$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
$GPS1,112053,6701.186,-5724.155,15,1.1,15,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,112743,6701.184,-5724.129,32,1.1,32,18.0
$SPEED_LIMITS,0.122,0.200
$TGT_NAME,NUUK1
$TGT_LATLONG,6600.000,-5700.000
$TGT_RADIUS,20000.000
$KALMAN_CONTROL,0.027,-0.198
$KALMAN_X,26785.7,-1992.3,-1360.5,20704.8,1976.9
$KALMAN_Y,8638.8,1892.8,805.8,4399.0,-830.7
$MHEAD_RNG_PITCHd_Wd,154.2,114762,-14.2,-7.021
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-1.07,-146.6,0.0,0.0,0,94,0.00,0.00,-63.85,0.000,2,0.007,0.000,509,2333,2540,0,0,0,0,0,0
$GC,98,-1.07,-146.6,3.1,-2.4,13,138,9.52,3.08,-16.83,0.000,4,0.000,0.000,2513,418,3049,15,0,16,0,0,0
$GC,391,-0.86,-146.6,50.4,-12.2,48,408,0.00,3.40,0.00,0.007,6,0.007,0.000,2510,2169,3050,0,0,18,0,0,0
$GC,723,-0.86,-146.6,80.8,-9.2,79,739,0.00,2.95,0.00,0.007,4,0.000,0.000,2509,613,3045,0,0,16,0,0,0
$GC,901,-0.86,-146.6,99.1,-9.7,94,911,0.00,2.80,0.00,0.007,6,0.007,0.000,2509,2230,3048,0,0,15,0,0,0
$STATE,916,end dive,TARGET_DEPTH_EXCEEDED
$STATE,916,begin apogee
$GC,923,-0.31,0.0,100.7,10.2,96,1045,0.75,0.00,108.32,0.000,6,0.000,0.007,2690,1902,2513,2,0,0,0,0,0
$STATE,1046,end apogee,CONTROL_FINISHED_OK
$STATE,1046,begin climb
$GC,1048,1.07,146.6,112.5,0.0,108,1189,1.67,2.35,121.47,0.000,4,0.000,0.000,3029,432,1918,2,0,12,0,0,0
$GC,1441,3.03,675.9,152.0,-10.0,143,1725,1.75,2.88,263.25,0.000,6,0.000,0.000,3415,2244,597,2,0,13,0,1,0
$GC,2050,4.78,1138.0,206.3,-7.9,202,2066,0.00,3.30,0.12,0.000,4,0.007,0.000,3421,436,594,0,0,15,0,0,0
$GC,2318,5.32,1576.5,228.5,-7.1,225,2329,0.00,3.90,0.38,0.000,6,0.007,0.000,3413,2140,599,0,0,21,0,0,0
$GC,2654,5.92,2067.7,255.9,-8.8,257,2669,0.00,3.03,0.12,0.007,4,0.007,0.000,3417,470,596,0,0,15,0,0,0
$GC,2921,6.45,2495.9,273.9,-6.8,280,2932,0.00,2.65,1.90,0.000,6,0.007,0.000,3417,2373,595,0,0,17,0,0,0
$GC,3257,6.97,2918.1,296.6,-6.6,312,3273,0.00,3.33,0.12,0.007,4,0.007,0.000,3413,612,597,0,0,16,0,0,0
$GC,3525,7.54,3382.3,316.6,-7.9,335,3536,0.00,2.67,1.73,0.000,6,0.007,0.000,3415,2276,589,0,0,16,0,0,0
$GC,3861,8.13,3863.1,343.7,-8.5,367,3878,0.00,3.58,0.12,0.007,4,0.000,0.000,3414,347,600,0,0,19,0,0,0
$GC,4130,8.72,4347.9,366.4,-8.6,390,4142,0.00,2.78,1.80,0.000,6,0.007,0.000,3416,2208,595,0,0,17,0,0,0
$GC,4466,9.32,4835.0,394.7,-8.7,422,4473,0.00,2.70,0.12,0.007,4,0.007,0.000,3416,416,596,0,0,13,0,0,0
$GC,4725,9.86,5268.7,413.8,-6.9,444,4736,0.00,3.78,0.65,0.000,6,0.007,0.000,3410,2244,595,0,0,23,0,0,0
$GC,5061,10.38,5695.1,438.9,-6.7,476,5077,0.00,3.78,0.12,0.000,4,0.007,0.000,3415,451,585,0,0,21,0,0,0
$GC,5330,11.00,6197.6,459.0,-9.2,499,5340,0.00,3.88,0.38,0.007,6,0.000,0.000,3416,2184,596,0,0,21,0,0,0
$GC,5665,11.55,6644.6,488.1,-7.4,531,5671,0.00,2.67,0.12,0.007,4,0.007,0.000,3415,482,594,0,0,15,0,0,0
$GC,5924,12.12,7107.5,507.5,-7.9,553,5934,0.00,3.50,0.98,0.000,6,0.007,0.000,3412,2149,596,0,0,18,0,0,0
$GC,6259,12.76,7627.7,533.5,-9.7,585,6275,0.00,3.20,0.12,0.000,4,0.007,0.000,3413,267,590,0,0,15,0,0,0
$GC,6527,13.30,8064.4,554.4,-7.0,608,6537,0.00,3.50,0.77,0.000,6,0.007,0.000,3413,2188,594,0,0,20,0,0,0
$GC,6862,13.84,8502.8,580.0,-7.1,640,6877,0.00,2.83,0.25,0.000,4,0.007,0.000,3417,493,595,0,0,11,0,0,0
$GC,7130,14.40,8965.8,599.3,-7.9,663,7136,0.00,2.75,0.00,0.007,6,0.007,0.000,3417,2283,597,0,0,13,0,0,0
$GC,7455,15.02,9466.9,629.3,-9.1,694,7469,0.00,3.85,0.00,0.007,4,0.007,0.000,3413,368,594,0,0,23,0,0,0
$GC,7722,15.59,9929.5,649.9,-7.9,717,7732,0.00,3.65,0.00,0.007,6,0.007,0.000,3413,2044,595,0,0,20,0,0,0
$GC,8057,16.17,10397.0,676.8,-8.0,749,8071,0.00,2.97,0.00,0.000,4,0.007,0.000,3413,327,593,0,0,18,0,0,0
$GC,8324,16.73,10856.9,698.2,-7.8,772,8334,0.00,3.97,0.00,0.007,6,0.000,0.000,3414,2363,595,0,0,20,0,0,0
$GC,8658,17.30,11317.6,724.0,-7.8,804,8674,0.00,3.28,0.00,0.007,4,0.007,0.000,3416,382,597,0,0,14,0,0,0
$GC,8926,17.85,11768.7,744.4,-7.5,827,8936,0.00,4.15,0.00,0.007,6,0.007,0.000,3414,2163,596,0,0,24,0,0,0
$GC,9261,18.44,12247.1,770.2,-8.4,859,9276,0.00,3.15,0.00,0.007,4,0.007,0.000,3412,378,594,0,0,16,0,0,0
$GC,9528,18.96,12672.5,789.6,-6.7,882,9535,0.00,2.92,0.00,0.007,6,0.007,0.000,3415,2173,593,0,0,12,0,0,0
$GC,9853,19.34,12977.8,809.3,-2.8,913,9868,0.00,2.92,0.00,0.007,4,0.007,0.000,3416,541,596,0,0,14,0,0,0
$GC,10120,19.07,12977.8,794.8,10.8,936,10128,0.00,2.70,0.00,0.000,6,0.007,0.000,3414,2199,604,0,0,15,0,0,0
$GC,10445,18.98,12977.8,761.0,8.5,967,10460,0.00,3.40,0.00,0.007,4,0.007,0.000,3416,377,595,0,0,21,0,0,0
$GC,10713,18.91,12977.8,738.9,8.4,990,10719,0.00,3.17,0.00,0.007,6,0.007,0.000,3414,2598,594,0,0,15,0,0,0
$GC,11038,19.07,13000.4,718.5,6.3,1021,11053,0.00,3.55,0.00,0.007,4,0.007,0.000,3413,455,598,0,0,18,0,0,0
$GC,11305,19.26,13025.2,700.7,6.2,1044,11315,0.00,3.58,0.00,0.007,6,0.007,0.000,3415,2174,593,0,0,20,0,0,0
$GC,11640,19.30,13058.4,677.7,6.0,1076,11655,0.00,3.90,0.00,0.007,4,0.007,0.000,3416,298,593,0,0,23,0,0,0
$GC,11907,19.20,13058.4,658.7,10.9,1099,11917,0.00,4.03,0.00,0.007,6,0.007,0.000,3413,2249,597,0,0,21,0,0,0
$GC,12241,19.28,13058.4,631.9,7.4,1131,12256,0.00,3.08,0.00,0.007,4,0.007,0.000,3414,607,594,0,0,15,0,0,0
$GC,12509,19.36,13058.4,612.4,7.1,1154,12515,0.00,3.28,0.00,0.007,6,0.000,0.000,3416,2381,596,0,0,17,0,0,0
$GC,12834,19.23,13058.4,581.9,10.5,1185,12849,0.00,3.25,0.00,0.007,4,0.007,0.000,3414,441,596,0,0,16,0,0,0
$GC,13101,19.36,13064.5,559.0,6.8,1208,13107,0.00,3.00,0.00,0.007,6,0.007,0.000,3415,2195,612,0,0,14,0,0,0
$GC,13425,19.24,13064.5,531.0,10.2,1239,13440,0.00,3.28,0.00,0.007,4,0.007,0.000,3416,327,595,0,0,15,0,0,0
$GC,13693,19.30,13064.5,507.4,7.2,1262,13702,0.00,3.47,0.00,0.007,6,0.007,0.000,3416,2131,595,0,0,19,0,0,0
$GC,14027,19.20,13064.5,480.4,9.8,1294,14041,0.00,3.00,0.00,0.007,4,0.007,0.000,3415,426,596,0,0,18,0,0,0
$GC,14293,19.20,13064.5,454.1,8.8,1317,14301,0.00,3.42,0.00,0.000,6,0.007,0.000,3416,2202,590,0,0,15,0,0,0
$GC,14618,19.20,13064.5,428.0,7.5,1348,14633,0.00,3.40,0.00,0.007,4,0.007,0.000,3415,468,593,0,0,18,0,0,0
$GC,14885,19.41,13093.2,410.2,6.1,1371,14895,0.00,3.40,0.00,0.007,6,0.007,0.000,3415,2389,596,0,0,16,0,0,0
$GC,15219,19.43,13103.8,386.3,6.7,1403,15234,0.00,3.00,0.00,0.007,4,0.000,0.000,3417,424,596,0,0,14,0,0,0
$GC,15486,19.32,13103.8,362.9,11.2,1426,15493,0.00,2.85,0.00,0.007,6,0.007,0.000,3415,2114,596,0,0,14,0,0,0
$GC,15810,19.32,13103.8,330.2,8.5,1457,15816,0.00,2.65,0.00,0.007,4,0.007,0.000,3418,477,593,0,0,13,0,0,0
$GC,16068,19.32,13103.8,308.2,8.4,1479,16075,0.00,3.15,0.00,0.007,6,0.007,0.000,3417,2219,596,0,0,19,0,0,0
$GC,16395,19.27,13103.8,278.9,10.5,1510,16410,0.00,3.28,0.00,0.007,4,0.007,0.000,3419,457,597,0,0,17,0,0,0
$GC,16662,19.30,13121.6,260.8,6.4,1533,16672,0.00,3.75,0.00,0.007,6,0.007,0.000,3415,2436,592,0,0,21,0,0,0
$GC,16996,19.19,13121.6,224.3,11.9,1565,17011,0.00,3.53,0.00,0.007,4,0.007,0.000,3415,431,603,0,0,16,0,0,0
$GC,17263,19.19,13121.6,198.4,9.1,1588,17270,0.00,3.28,0.00,0.007,6,0.007,0.000,3414,2070,600,0,0,19,0,0,0
$GC,17588,19.25,13121.6,172.3,7.4,1619,17604,0.00,3.58,0.00,0.007,4,0.007,0.000,3415,590,594,0,0,19,0,0,0
$GC,17855,19.26,13129.9,152.2,6.8,1642,17865,0.00,2.40,0.00,0.007,6,0.007,0.000,3418,2149,593,0,0,11,0,0,0
$GC,18180,19.15,13129.9,125.9,9.8,1673,18186,0.00,2.62,0.00,0.000,4,0.007,0.000,3417,367,596,0,0,11,0,0,0
$GC,18438,19.23,13129.9,100.8,7.5,1695,18447,0.00,3.75,0.00,0.007,6,0.007,0.000,3417,2218,595,0,0,18,0,0,0
$GC,18772,19.16,13129.9,74.2,10.2,1727,18788,0.00,3.65,0.00,0.007,4,0.007,0.000,3415,422,598,0,0,20,0,0,0
$GC,18933,19.16,13129.9,59.0,8.6,1741,18948,0.00,3.20,0.00,0.007,6,0.007,0.000,3417,2209,591,0,0,16,0,0,0
$GC,19262,19.10,13129.9,31.7,8.6,1772,19268,0.00,2.28,0.00,0.007,4,0.007,0.000,3415,3706,596,0,0,10,0,0,0
$GC,19383,19.24,13156.7,23.3,6.2,1782,19398,0.00,2.85,0.00,0.007,6,0.000,0.000,3415,1900,594,0,0,14,0,0,0
$GC,19592,19.24,13156.7,9.3,7.4,1814,19598,0.00,2.83,0.00,0.007,4,0.007,0.000,3415,406,589,0,0,15,0,0,0
$STATE,19686,end climb,SURFACE_DEPTH_REACHED
$STATE,19686,begin surface coast
$FINISH,1.3,1.024600
$STATE,19737,end surface coast,CONTROL_FINISHED_OK
$STATE,19738,begin surface
$SM_CCo,19828,0.00,0.000,0,0,596,467.30
$SM_GC,0.04,14.73,0.00,0.00,0.000,0.007,0.007,565,2120,596,-9.50,2.74,467.30
$SUPER,3,254,254,0,0,0
$RAFOS_CLK,0
$RAFOS,4,1254761043,16.750000,16.734167,80,0,0,0,0,0,757,0,0,0,0,0
$RAFOS,3,1254760441,16.583334,16.566944,80,0,0,0,0,0,910,0,0,0,0,0
$RAFOS,2,1254759846,16.416666,16.401667,80,0,0,0,0,0,549,0,0,0,0,0
$RAFOS,1,1254759242,16.250000,16.233889,80,0,0,0,0,0,790,0,0,0,0,0
$RAFOS,0,1254758646,16.083334,16.068333,80,0,0,0,0,0,934,0,0,0,0,0
$RAFOS,4,1254746642,12.750000,12.733889,80,0,0,0,0,0,759,0,0,0,0,0
$RAFOS,3,1254746042,12.583333,12.567223,80,0,0,0,0,0,906,0,0,0,0,0
$RAFOS,2,1254745442,12.416667,12.400556,80,0,0,0,0,0,573,0,0,0,0,0
$RAFOS,1,1254744844,12.250000,12.234445,80,0,0,0,0,0,778,0,0,0,0,0
$RAFOS,0,1254744246,12.083333,12.068334,80,0,0,0,0,0,935,0,0,0,0,0
$RAFOS_FIX,6646.187988,-5450.614258,051009,161601,5,80,6.46
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078162932
$INTERNAL_PRESSURE,16.256
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,229.988
$10V_AH,10.7,35.864
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,68.113
$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,28.425,219.750,502.875,0.000,0.000,0.000,0.000,149.173,0.000,0.000,33.005,3210.199,13329.275,1093.727,2045.984,637.697,33.350,1313.244,0.000,1943.259,3600.000,2.944,0.000
$DEVICE_MAMPS,119.000,60.000,1300.000,0.000,0.000,103.000,0.000,223.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1103.166,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,336328
$DATA_FILE_SIZE,62882,1840
$CAP_FILE_SIZE,230720,8
$CFSIZE,260165632,247975936
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,32,1143,1,0
$SOUNDSPEED,1462.4
$GPS,051009,170246,6659.646,-5728.995,30,1.1,30,18.0