version: 66.06
glider: 1
mission: 14
dive: 69
start: 10 5 109 21 43 28
data:
$ID,1
$MISSION,14
$DIVE,69
$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,-220495.28
$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,8
$R_STBD_OVSHOOT,1
$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,68.299431
$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
$GPS1,214422,6659.644,-5728.991,32,1.1,32,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,214932,6659.644,-5728.991,26,1.1,27,18.0
$SPEED_LIMITS,0.122,0.200
$TGT_NAME,NUUK1
$TGT_LATLONG,6600.000,-5700.000
$TGT_RADIUS,20000.000
$KALMAN_CONTROL,0.035,-0.197
$KALMAN_X,23628.5,-1201.9,-557.1,18649.4,1614.0
$KALMAN_Y,8991.7,428.2,44.1,3465.9,-967.5
$MHEAD_RNG_PITCHd_Wd,151.9,112598,-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,28,-1.07,-146.6,0.0,0.0,0,85,0.00,0.00,-54.05,0.000,2,0.007,0.000,415,1920,3029,0,0,0,0,0,0
$GC,88,-1.07,-146.6,3.1,-2.1,11,113,11.12,2.78,-0.60,0.000,4,0.000,0.000,2530,377,3051,14,0,17,0,0,0
$GC,298,-0.84,-146.6,36.6,-13.0,39,308,0.00,3.17,-1.75,0.000,6,0.007,0.000,2531,2240,3102,0,0,15,0,0,0
$GC,505,-0.84,-146.6,58.2,-8.5,59,511,0.00,2.25,0.00,0.007,4,0.007,0.000,2530,3706,3101,0,0,12,0,0,0
$GC,763,-0.84,-146.6,80.3,-8.0,81,770,0.00,3.65,0.00,0.007,6,0.007,0.000,2528,1784,3099,0,0,19,0,0,0
$STATE,985,end dive,TARGET_DEPTH_EXCEEDED
$STATE,985,begin apogee
$GC,993,-0.31,0.0,100.2,9.1,103,1134,0.77,0.00,122.35,0.000,6,0.000,0.000,2697,2214,2512,1,0,0,0,1,0
$STATE,1135,end apogee,CONTROL_FINISHED_OK
$STATE,1135,begin climb
$GC,1140,1.07,146.6,113.1,0.0,117,1278,1.45,2.78,121.62,0.000,4,0.000,0.000,3006,494,1913,1,0,14,0,1,0
$GC,1530,2.97,650.8,148.4,-9.2,152,1834,1.95,3.08,267.05,0.000,6,0.000,0.000,3410,2266,601,2,0,15,0,3,0
$GC,2148,3.56,1128.8,201.6,-8.4,212,2163,0.00,3.15,0.12,0.007,4,0.007,0.000,3403,483,601,0,0,15,0,0,0
$GC,2416,4.23,1672.4,226.4,-10.5,235,2426,0.00,3.17,1.27,0.000,6,0.007,0.000,3403,2173,600,0,0,13,0,0,0
$GC,2751,4.80,2139.7,257.1,-8.0,267,2766,0.00,3.03,0.12,0.007,4,0.007,0.000,3403,391,600,0,0,13,0,0,0
$GC,3019,5.38,2610.9,279.1,-8.2,290,3029,0.00,3.40,1.00,0.000,6,0.007,0.000,3403,2211,590,0,0,22,0,0,0
$GC,3354,5.97,3091.8,308.0,-8.5,322,3369,0.00,2.85,0.12,0.007,4,0.007,0.000,3407,448,599,0,0,13,0,0,0
$GC,3621,7.74,3546.6,328.3,-7.6,345,3631,0.00,3.95,0.62,0.000,6,0.007,0.000,3405,2083,602,0,0,20,0,0,0
$GC,3956,8.32,4025.7,353.8,-8.4,377,3972,0.00,2.90,0.30,0.000,4,0.007,0.000,3405,448,600,0,0,16,0,0,0
$GC,4225,8.92,4505.7,375.3,-8.4,400,4235,0.00,3.20,1.15,0.000,6,0.007,0.000,3407,2159,601,0,0,15,0,0,0
$GC,4559,9.51,4992.4,402.3,-8.6,432,4566,0.00,2.65,0.15,0.000,4,0.007,0.000,3408,462,602,0,0,12,0,0,0
$GC,4818,10.09,5462.8,424.1,-8.1,454,4829,0.00,3.20,1.42,0.000,6,0.000,0.000,3410,2114,598,0,0,14,0,0,0
$GC,5153,10.67,5933.1,451.7,-8.1,486,5169,0.00,3.05,0.17,0.000,4,0.007,0.000,3409,198,601,0,0,17,0,0,0
$GC,5421,11.22,6382.1,473.3,-7.4,509,5431,0.00,3.35,1.08,0.000,6,0.007,0.000,3404,2140,603,0,0,15,0,0,0
$GC,5756,11.77,6824.0,498.4,-7.2,541,5771,0.00,2.80,0.17,0.007,4,0.007,0.000,3408,382,599,0,0,11,0,0,0
$GC,6024,12.33,7283.5,518.8,-7.8,564,6035,0.00,3.10,1.48,0.000,6,0.007,0.000,3406,2069,601,0,0,16,0,0,0
$GC,6360,12.92,7759.8,544.9,-8.3,596,6367,0.00,2.58,0.12,0.007,4,0.007,0.000,3408,505,600,0,0,10,0,0,0
$GC,6619,13.49,8226.7,566.5,-8.0,618,6629,0.00,2.90,1.40,0.000,6,0.007,0.000,3407,2200,599,0,0,17,0,0,0
$GC,6954,14.07,8697.7,593.0,-8.1,650,6969,0.00,2.88,0.00,0.007,4,0.007,0.000,3406,423,598,0,0,10,0,0,0
$GC,7221,14.63,9151.0,614.6,-7.6,673,7231,0.00,4.03,0.00,0.007,6,0.007,0.000,3408,2171,600,0,0,24,0,0,0
$GC,7556,15.19,9604.9,640.5,-7.6,705,7571,0.00,3.88,0.00,0.000,4,0.007,0.000,3403,373,600,0,0,19,0,0,0
$GC,7823,15.76,10069.8,661.3,-7.9,728,7830,0.00,2.88,0.00,0.007,6,0.000,0.000,3404,2157,599,0,0,13,0,0,0
$GC,8148,16.35,10546.4,686.8,-8.3,759,8163,0.00,3.25,0.00,0.007,4,0.007,0.000,3402,505,608,0,0,14,0,0,0
$GC,8416,16.93,11018.6,709.0,-8.2,782,8421,0.00,3.10,0.00,0.007,6,0.007,0.000,3406,2193,602,0,0,15,0,0,0
$GC,8741,17.49,11481.0,734.9,-7.9,813,8747,0.00,2.67,0.00,0.007,4,0.007,0.000,3405,501,599,0,0,12,0,0,0
$GC,8999,18.06,11938.9,756.0,-7.7,835,9006,0.00,2.88,0.00,0.000,6,0.007,0.000,3404,2139,596,0,0,13,0,0,0
$GC,9324,18.63,12402.6,782.1,-7.9,866,9340,0.00,3.15,0.00,0.007,4,0.000,0.000,3404,408,601,0,0,14,0,0,0
$GC,9594,19.17,12844.0,803.0,-7.2,889,9603,0.00,3.17,0.00,0.000,6,0.007,0.000,3407,2221,600,0,0,14,0,0,0
$GC,9928,19.70,13276.2,827.1,-6.9,921,9943,0.00,3.28,0.00,0.007,4,0.007,0.000,3405,423,597,0,0,18,0,0,0
$GC,10195,19.85,13396.6,836.5,3.1,944,10201,0.00,3.15,0.00,0.007,6,0.000,0.000,3406,2150,599,0,0,16,0,0,0
$GC,10525,19.85,13396.6,809.8,7.1,976,10540,0.00,3.10,0.00,0.007,4,0.000,0.000,3409,436,593,0,0,16,0,0,0
$GC,10792,19.88,13418.8,791.1,6.3,999,10803,0.00,3.42,0.00,0.007,6,0.007,0.000,3405,2194,599,0,0,18,0,0,0
$GC,11116,19.88,13418.8,771.2,7.8,1030,11131,0.00,3.17,0.00,0.007,4,0.007,0.000,3405,352,600,0,0,16,0,0,0
$GC,11384,19.89,13431.4,754.0,6.6,1053,11390,0.00,3.12,0.00,0.000,6,0.007,0.000,3408,2198,613,0,0,12,0,0,0
$GC,11709,19.80,13431.4,722.8,11.9,1084,11724,0.00,3.12,0.00,0.000,4,0.007,0.000,3406,432,605,0,0,16,0,0,0
$GC,11975,19.80,13431.4,700.9,7.8,1107,11983,0.00,3.28,0.00,0.007,6,0.007,0.000,3410,2320,597,0,0,16,0,0,0
$GC,12300,19.75,13431.4,673.3,8.8,1138,12316,0.00,3.90,0.00,0.007,4,0.007,0.000,3405,507,599,0,0,18,0,0,0
$GC,12569,19.83,13432.8,652.5,7.0,1161,12579,0.00,3.28,0.00,0.007,6,0.007,0.000,3406,2322,597,0,0,16,0,0,0
$GC,12903,19.88,13432.8,628.0,7.4,1193,12919,0.00,3.40,0.00,0.007,4,0.007,0.000,3407,434,601,0,0,21,0,0,0
$GC,13170,19.88,13432.8,607.0,8.1,1216,13179,0.00,2.80,0.00,0.007,6,0.007,0.000,3406,2116,601,0,0,12,0,0,0
$GC,13495,19.88,13432.8,580.2,8.3,1247,13502,0.00,2.92,0.00,0.007,4,0.007,0.000,3406,496,600,0,0,17,0,0,0
$GC,13754,19.88,13432.8,559.7,7.7,1269,13761,0.00,3.22,0.00,0.007,6,0.007,0.000,3403,2351,604,0,0,17,0,0,0
$GC,14079,19.88,13432.8,534.1,8.5,1300,14094,0.00,3.25,0.00,0.007,4,0.007,0.000,3406,389,598,0,0,17,0,0,0
$GC,14346,19.88,13432.8,512.5,7.5,1323,14353,0.00,3.03,0.00,0.007,6,0.007,0.000,3408,2217,602,0,0,14,0,0,0
$GC,14671,19.88,13432.8,488.6,7.6,1354,14687,0.00,3.72,0.00,0.007,4,0.007,0.000,3408,552,604,0,0,18,0,0,0
$GC,14939,19.88,13432.8,466.7,7.8,1377,14946,0.00,2.70,0.00,0.000,6,0.007,0.000,3404,2090,601,0,0,12,0,0,0
$GC,15264,19.88,13432.8,441.9,7.7,1408,15279,0.00,3.30,0.00,0.007,4,0.007,0.000,3404,261,602,0,0,20,0,0,0
$GC,15531,19.88,13432.8,421.3,9.6,1431,15541,0.00,3.53,0.00,0.007,6,0.007,0.000,3407,2228,599,0,0,18,0,0,0
$GC,15865,19.88,13432.8,395.6,8.2,1463,15880,0.00,3.40,0.00,0.007,4,0.007,0.000,3406,460,601,0,0,16,0,0,0
$GC,16132,19.78,13432.8,368.1,9.9,1486,16139,0.00,3.17,0.00,0.007,6,0.007,0.000,3408,2237,602,0,0,16,0,0,0
$GC,16464,19.86,13432.8,342.7,7.2,1518,16480,0.00,3.55,0.00,0.007,4,0.007,0.000,3408,494,594,0,0,16,0,0,0
$GC,16732,19.86,13435.9,323.7,6.9,1541,16742,0.00,3.50,0.00,0.000,6,0.007,0.000,3402,2286,603,0,0,20,0,0,0
$GC,17066,19.74,13435.9,294.1,9.1,1573,17082,0.00,3.78,0.00,0.007,4,0.007,0.000,3405,463,603,0,0,18,0,0,0
$GC,17335,19.96,13492.1,277.2,5.2,1596,17344,0.00,3.00,0.00,0.007,6,0.007,0.000,3407,2254,599,0,0,13,0,0,0
$GC,17668,19.96,13492.1,252.9,7.4,1628,17683,0.00,3.20,0.00,0.007,4,0.007,0.000,3408,625,601,0,0,16,0,0,0
$GC,17935,19.88,13492.1,229.2,10.5,1651,17943,0.00,2.60,0.00,0.007,6,0.007,0.000,3406,2137,599,0,0,9,0,0,0
$GC,18260,19.88,13492.1,198.0,7.1,1682,18276,0.00,2.90,0.00,0.007,4,0.007,0.000,3406,408,597,0,0,15,0,0,0
$GC,18528,19.97,13492.1,177.3,7.4,1705,18538,0.00,3.40,0.00,0.007,6,0.007,0.000,3405,2173,601,0,0,19,0,0,0
$GC,18862,19.89,13492.1,151.3,8.4,1737,18878,0.00,3.53,0.00,0.007,4,0.007,0.000,3408,214,600,0,0,21,0,0,0
$GC,19130,19.89,13492.1,128.2,8.6,1760,19138,0.00,3.33,0.00,0.007,6,0.007,0.000,3406,2088,620,0,0,15,0,0,0
$GC,19455,19.89,13492.1,97.0,8.4,1791,19470,0.00,3.53,0.00,0.007,4,0.000,0.000,3406,449,601,0,0,19,0,0,0
$GC,19723,19.99,13511.4,78.6,6.4,1814,19728,0.00,2.90,0.00,0.007,6,0.007,0.000,3408,2166,599,0,0,12,0,0,0
$GC,20047,20.01,13524.5,54.8,6.6,1845,20063,0.00,3.80,0.00,0.007,4,0.007,0.000,3407,309,594,0,0,21,0,0,0
$GC,20315,19.93,13524.5,32.0,8.9,1868,20322,0.00,3.15,0.00,0.007,6,0.007,0.000,3405,2067,601,0,0,15,0,0,0
$GC,20514,19.93,13525.7,18.6,7.0,1888,20530,0.00,3.25,0.00,0.007,4,0.000,0.000,3408,452,604,0,0,18,0,0,0
$STATE,20769,end climb,SURFACE_DEPTH_REACHED
$STATE,20770,begin surface coast
$FINISH,0.0,1.012198
$STATE,20821,end surface coast,CONTROL_FINISHED_OK
$STATE,20821,begin surface
$SM_CCo,20912,0.00,0.000,0,0,590,467.05
$SM_GC,0.04,14.48,0.00,0.00,0.000,0.000,0.007,544,2237,590,-9.91,6.08,467.05
$SUPER,3,206,254,0,0,0
$RAFOS_CLK,0
$RAFOS,4,1254789850,0.750000,0.736111,80,0,0,0,0,0,704,0,0,0,0,0
$RAFOS,3,1254789242,0.583333,0.567222,80,0,0,0,0,0,888,0,0,0,0,0
$RAFOS,2,1254788648,0.416667,0.402222,80,0,0,0,0,0,520,0,0,0,0,0
$RAFOS,1,1254788044,0.250000,0.234444,80,0,0,0,0,0,761,0,0,0,0,0
$RAFOS,0,1254787451,0.083333,0.069722,80,0,0,0,0,0,873,0,0,0,0,0
$RAFOS_FIX,6651.295410,-5509.724121,061009,000001,5,80,10.92
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078144468
$INTERNAL_PRESSURE,16.2857
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,231.316
$10V_AH,10.7,36.063
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,68.493
$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,29.775,223.325,521.750,0.000,0.000,0.000,0.000,122.292,0.000,0.000,27.375,3320.289,14103.125,1107.838,2148.615,585.984,33.348,1319.874,0.000,2052.442,1800.000,2.604,0.000
$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,1163.463,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,336444
$DATA_FILE_SIZE,66085,1942
$CAP_FILE_SIZE,234809,8
$CFSIZE,260165632,247775232
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,39,1106,5,0
$SOUNDSPEED,1462.8
$GPS,061009,034120,6659.006,-5736.816,13,1.1,14,18.0