version: 66.06
glider: 1
mission: 14
dive: 114
start: 10 16 109 13 12 26
data:
$ID,1
$MISSION,14
$DIVE,114
$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,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,3
$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,0.0038000001
$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,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,-221555.59
$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,3
$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,77.050591
$FG_AHR_24V,4.6384358
$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
$GPS1,131310,6639.191,-6024.920,22,1.1,22,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,131920,6639.197,-6024.914,18,1.1,18,18.0
$SPEED_LIMITS,0.122,0.234
$TGT_NAME,HOLD
$TGT_LATLONG,6400.000,-5448.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.149,-0.180
$KALMAN_X,-60057.9,-1652.7,-1281.1,-24390.1,1850.3
$KALMAN_Y,4038.5,468.1,-515.2,-28912.9,431.4
$MHEAD_RNG_PITCHd_Wd,122.5,402174,-13.0,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.99,-146.6,0.0,0.0,0,72,0.00,0.00,-42.20,0.000,2,0.007,0.000,454,2238,1874,0,0,0,0,0,0
$GC,75,-0.99,-146.6,3.0,-5.1,9,143,9.77,2.25,-40.50,0.000,4,0.000,0.000,2509,3638,3106,9,0,10,0,0,0
$GC,278,-0.78,-146.6,27.8,-14.5,41,293,0.00,3.62,0.00,0.007,6,0.000,0.000,2515,1761,3129,0,0,20,0,0,0
$GC,480,-0.68,-146.6,48.6,-9.9,60,486,0.43,2.30,0.00,0.007,4,0.007,0.000,2612,302,3108,1,0,13,0,0,0
$GC,644,-0.57,-146.6,64.6,-9.0,74,660,0.40,3.83,0.00,0.007,6,0.000,0.000,2504,2122,3105,1,0,19,0,0,0
$GC,973,-0.57,-146.6,91.6,-8.0,105,989,0.40,3.25,0.00,0.007,4,0.000,0.000,2601,213,3107,1,0,19,0,0,0
$STATE,1070,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1070,begin apogee
$GC,1083,-0.31,0.0,100.1,8.9,113,1212,0.65,0.00,118.72,0.135,6,0.000,0.007,2764,2346,2528,2,0,0,0,1,0
$STATE,1215,end apogee,CONTROL_FINISHED_OK
$STATE,1215,begin climb
$GC,1217,0.99,146.6,112.2,0.0,126,1354,0.85,2.60,124.50,0.000,4,0.000,0.000,2953,3578,1906,1,0,14,0,0,0
$GC,1527,2.72,595.7,139.9,-7.4,154,1810,1.65,3.20,257.80,0.000,6,0.000,0.000,3344,1839,632,2,0,17,0,2,0
$GC,2134,4.58,1105.1,189.1,-9.3,213,2149,0.00,3.30,4.72,0.000,4,0.007,0.000,3346,3690,619,0,0,16,0,0,0
$GC,2402,5.10,1533.2,209.6,-6.7,237,2417,0.00,3.05,1.52,0.000,6,0.007,0.000,3347,1874,619,0,0,14,0,0,0
$GC,2732,5.62,1955.0,230.5,-6.5,268,2747,0.00,3.45,4.80,0.000,4,0.007,0.000,3347,3442,603,0,0,17,0,0,0
$GC,2754,6.14,2377.9,231.9,-6.5,270,2769,0.00,2.53,1.83,0.000,6,0.007,0.000,3347,1854,611,0,0,10,0,0,0
$GC,3083,6.69,2819.3,254.6,-7.1,301,3099,0.00,3.60,0.15,0.007,4,0.007,0.000,3347,3516,607,0,0,19,0,0,0
$GC,3352,7.26,3286.1,274.2,-7.9,324,3362,0.00,3.08,1.25,0.000,6,0.007,0.000,3348,1942,608,0,0,15,0,0,0
$GC,3686,7.85,3770.0,303.8,-8.5,356,3702,0.00,3.40,0.12,0.000,4,0.007,0.000,3348,440,611,0,0,19,0,0,0
$GC,3782,8.47,4273.0,312.2,-9.1,364,3797,0.00,3.12,0.93,0.000,6,0.007,0.000,3346,2145,606,0,0,15,0,0,0
$GC,4112,8.95,4663.6,333.5,-5.5,395,4127,0.00,2.90,0.12,0.007,4,0.000,0.000,3347,3692,606,0,0,15,0,0,0
$GC,4379,9.50,5105.2,351.4,-7.1,418,4390,0.00,3.15,1.42,0.000,6,0.007,0.000,3346,1884,606,0,0,13,0,0,0
$GC,4714,9.99,5508.1,372.1,-5.9,450,4729,0.00,2.78,0.12,0.000,4,0.007,0.000,3344,267,608,0,0,16,0,0,0
$GC,4735,10.48,5907.2,373.4,-5.8,451,4745,0.00,4.15,0.17,0.000,6,0.007,0.000,3353,2310,607,0,0,21,0,0,0
$GC,5070,11.00,6328.7,394.8,-6.5,483,5077,0.00,2.40,0.12,0.007,4,0.007,0.000,3348,3552,607,0,0,13,0,0,0
$GC,5329,11.56,6785.2,412.4,-7.6,505,5339,0.00,2.70,1.98,0.000,6,0.007,0.000,3346,1864,609,0,0,13,0,0,0
$GC,5664,12.07,7193.6,433.3,-6.1,537,5681,0.00,3.17,0.15,0.007,4,0.007,0.000,3350,3665,609,0,0,16,0,0,0
$GC,5933,12.57,7601.6,449.1,-6.0,560,5945,0.00,4.20,0.20,0.000,6,0.007,0.000,3344,1848,610,0,0,23,0,0,0
$GC,6270,13.03,7978.4,467.8,-5.0,592,6276,0.00,2.42,0.20,0.007,4,0.007,0.000,3345,418,610,0,0,11,0,0,0
$GC,6450,13.62,8459.8,480.2,-8.4,607,6460,0.00,3.28,1.33,0.000,6,0.007,0.000,3348,2253,609,0,0,17,0,0,0
$GC,6785,14.11,8859.4,500.1,-5.8,639,6791,0.00,2.65,0.00,0.007,4,0.007,0.000,3348,3660,607,0,0,14,0,0,0
$GC,7044,14.51,9177.2,513.4,-3.2,661,7055,0.00,4.20,0.00,0.007,6,0.007,0.000,3349,1872,607,0,0,22,0,0,0
$GC,7379,14.28,9177.2,494.6,10.0,693,7394,0.00,2.90,0.00,0.007,4,0.007,0.000,3345,3590,603,0,0,16,0,0,0
$GC,7645,14.28,9177.2,468.6,7.7,716,7654,0.00,2.65,0.00,0.007,6,0.007,0.000,3343,1825,606,0,0,10,0,0,0
$GC,7970,14.30,9188.5,445.6,6.7,747,7985,0.00,3.38,0.00,0.000,4,0.007,0.000,3349,3677,623,0,0,19,0,0,0
$GC,8158,14.30,9188.5,432.2,7.7,763,8166,0.00,3.40,0.00,0.007,6,0.007,0.000,3346,1774,607,0,0,18,0,0,0
$GC,8484,14.41,9207.9,408.9,6.4,794,8489,0.00,2.15,0.00,0.000,4,0.007,0.000,3347,417,606,0,0,8,0,0,0
$GC,8663,14.41,9207.9,395.9,8.6,809,8669,0.00,3.50,0.00,0.007,6,0.007,0.000,3345,2284,604,0,0,18,0,0,0
$GC,8988,14.42,9217.1,373.6,6.7,840,9004,0.00,3.08,0.00,0.007,4,0.007,0.000,3344,3730,605,0,0,16,0,0,0
$GC,9027,14.49,9217.1,370.7,8.1,843,9042,0.00,3.47,0.00,0.007,6,0.007,0.000,3346,1846,605,0,0,19,0,0,0
$GC,9356,14.66,9278.7,350.7,5.0,874,9362,0.00,2.53,0.00,0.007,4,0.007,0.000,3346,192,607,0,0,14,0,0,0
$GC,9475,14.50,9278.7,342.3,9.9,884,9491,0.00,3.65,0.00,0.007,6,0.007,0.000,3346,2132,601,0,0,20,0,0,0
$GC,9805,14.50,9280.1,321.4,7.0,915,9820,0.00,3.33,0.00,0.007,4,0.007,0.000,3346,555,609,0,0,18,0,0,0
$GC,9870,14.19,9280.1,314.8,12.2,920,9877,0.00,2.97,0.00,0.007,6,0.000,0.000,3348,2160,607,0,0,14,0,0,0
$GC,10194,14.33,9280.1,291.5,7.1,951,10200,0.00,2.22,0.00,0.007,4,0.007,0.000,3347,3581,607,0,0,9,0,0,0
$GC,10453,14.26,9280.1,266.2,9.5,974,10468,0.00,3.22,0.00,0.007,6,0.007,0.000,3346,1812,607,0,0,19,0,0,0
$GC,10783,14.43,9305.4,243.5,6.2,1005,10797,0.00,2.83,0.00,0.007,4,0.007,0.000,3349,3506,606,0,0,13,0,0,0
$GC,10901,14.33,9305.4,233.8,9.8,1015,10917,0.00,3.42,0.00,0.007,6,0.007,0.000,3346,1696,605,0,0,20,0,0,0
$GC,11230,14.38,9305.4,201.5,7.4,1046,11247,0.00,3.50,0.00,0.007,4,0.007,0.000,3348,3594,608,0,0,18,0,0,0
$GC,11499,14.49,9334.2,182.6,6.1,1069,11505,0.00,2.80,0.00,0.000,6,0.007,0.000,3348,1883,606,0,0,9,0,0,0
$GC,11823,14.50,9338.3,161.4,6.9,1100,11838,0.00,2.95,0.00,0.007,4,0.007,0.000,3348,3608,605,0,0,14,0,0,0
$GC,12090,14.54,9338.3,141.6,8.1,1123,12097,0.00,3.30,0.00,0.007,6,0.007,0.000,3346,1689,608,0,0,16,0,0,0
$GC,12415,14.59,9338.3,113.8,8.8,1154,12430,0.00,3.17,0.00,0.007,4,0.000,0.000,3343,3590,606,0,0,14,0,0,0
$GC,12683,14.65,9338.3,93.0,7.2,1177,12689,0.00,2.75,0.00,0.007,6,0.007,0.000,3345,1929,606,0,0,13,0,0,0
$GC,13006,14.65,9338.3,65.7,9.0,1208,13022,0.00,3.08,0.00,0.000,4,0.007,0.000,3344,3661,595,0,0,16,0,0,0
$GC,13269,14.65,9338.3,45.0,7.5,1231,13284,0.00,3.67,0.00,0.007,6,0.007,0.000,3347,1843,603,0,0,16,0,0,0
$GC,13470,14.65,9338.3,27.5,8.8,1250,13487,0.00,3.40,0.00,0.007,4,0.007,0.000,3350,3769,605,0,0,18,0,0,0
$GC,13577,14.75,9376.0,20.8,5.8,1259,13592,0.00,3.40,0.00,0.007,6,0.007,0.000,3347,1823,607,0,0,17,0,0,0
$STATE,13758,end climb,SURFACE_DEPTH_REACHED
$STATE,13758,begin surface coast
$FINISH,1.7,1.025047
$STATE,13787,end surface coast,CONTROL_FINISHED_OK
$STATE,13787,begin surface
$SM_CCo,13875,0.00,0.000,0,0,604,465.33
$SM_GC,0.05,14.75,0.00,0.00,0.000,0.007,0.007,401,2176,604,-10.19,4.30,465.33
$SUPER,3,206,254,0,0,0
$RAFOS_CLK,0
$RAFOS,4,1255711445,16.750000,16.734722,80,0,0,0,0,0,858,0,0,0,0,0
$RAFOS,3,1255710843,16.583334,16.567499,80,0,0,0,0,0,773,0,0,0,0,0
$RAFOS,2,1255710250,16.416666,16.402779,80,0,0,0,0,0,946,0,0,0,0,0
$RAFOS,1,1255709646,16.250000,16.235001,80,0,0,0,0,0,737,0,0,0,0,0
$RAFOS,0,1255709042,16.083334,16.067223,80,0,0,0,0,0,599,0,0,0,0,0
$RAFOS_FIX,6628.862793,-6209.304199,161009,161601,5,80,7.10
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078152765
$INTERNAL_PRESSURE,16.2203
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,269.002
$10V_AH,10.7,40.220
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,77.180
$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,28.900,169.550,522.175,0.000,0.000,0.000,0.000,115.096,0.000,0.000,18.610,2186.741,9147.463,1004.753,1389.781,516.926,33.353,1205.322,0.000,1324.359,1800.000,3.996,0.000
$DEVICE_MAMPS,119.000,60.000,135.467,0.000,0.000,103.000,0.000,223.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,789.544,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330736
$DATA_FILE_SIZE,44138,1295
$CAP_FILE_SIZE,170907,8
$CFSIZE,260165632,243281920
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,27,855,3,0
$SOUNDSPEED,1451.6
$GPS,161009,171343,6638.976,-6028.938,27,1.1,27,18.0