version: 66.06
glider: 108
mission: 14
dive: 60
start: 6 17 110 6 54 39
data:
$ID,108
$MISSION,14
$DIVE,60
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$D_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,330
$T_MISSION,440
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-3
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,900
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,51740
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,2.7999999e-06
$HEADING,-1
$ESCAPE_HEADING,100
$ESCAPE_HEADING_DELTA,5
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-179875
$T_RSLEEP,60
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,350
$PITCH_MAX,3700
$C_PITCH,3112
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,294
$ROLL_MAX,3598
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,588
$VBD_MAX,3951
$C_VBD,3058
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-21.817678
$PRESSURE_SLOPE,0.0001161151
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,1.8
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,64
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043387706
$SEABIRD_T_H,0.00063929392
$SEABIRD_T_I,2.2459495e-05
$SEABIRD_T_J,2.0328812e-06
$SEABIRD_C_G,-10.121161
$SEABIRD_C_H,1.1529624
$SEABIRD_C_I,-0.002153415
$SEABIRD_C_J,0.0002365096
$GPS1,064731,6700.927,-5655.307,35,1.8,35,-37.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-72.9
$GPS2,065419,6700.959,-5655.464,9,1.2,14,-37.5
$SPEED_LIMITS,0.173,0.263
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,92.5,6583,-18.1,-10.000
$D_GRID,639
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.78,-146.1,0.0,0.0,0,57,0.00,0.00,-39.60,0.000,2,0.000,0.000,339,2237,2739,0,0,0,0,0,0
$GC,61,-0.78,-146.1,3.0,-1.4,8,119,9.88,2.33,-41.75,0.000,4,0.227,0.076,2938,831,3656,0,0,0,0,0,0
$GC,150,-0.78,-146.1,7.1,-10.3,24,155,0.00,2.35,0.00,0.000,6,0.000,0.064,2930,2251,3659,0,0,0,0,0,0
$GC,495,-0.78,-146.1,43.6,-10.4,85,500,0.00,2.17,0.00,0.000,4,0.000,0.075,2920,3597,3661,0,0,0,0,0,0
$GC,620,-0.78,-146.1,56.2,-10.0,107,626,0.10,2.15,0.00,0.000,6,0.170,0.053,2945,2236,3661,0,0,0,0,0,0
$GC,966,-0.78,-146.1,85.6,-8.3,168,971,0.00,2.20,0.00,0.000,4,0.000,0.064,2945,843,3662,0,0,0,0,0,0
$GC,1029,-0.78,-146.1,91.4,-9.6,179,1035,0.00,2.28,0.00,0.000,6,0.000,0.065,2938,2255,3662,0,0,0,0,0,0
$GC,1360,-0.78,-146.1,121.4,-8.7,218,1364,0.00,2.25,0.00,0.000,4,0.000,0.062,2938,842,3661,0,0,0,0,0,0
$GC,1416,-0.78,-146.1,127.0,-9.7,222,1422,0.00,2.30,0.00,0.000,6,0.000,0.065,2929,2262,3661,0,0,0,0,0,0
$GC,1741,-0.78,-146.1,157.9,-9.8,253,1743,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2262,3660,0,0,0,0,0,0
$GC,2063,-0.78,-146.1,188.5,-9.5,283,2067,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2262,3661,0,0,0,0,0,0
$GC,2392,-0.78,-146.1,218.8,-9.1,314,2397,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2262,3660,0,0,0,0,0,0
$GC,2719,-0.78,-146.1,245.3,-7.6,345,2723,0.00,2.12,0.00,0.000,4,0.000,0.077,2918,3597,3661,0,0,0,0,0,0
$GC,2753,-0.78,-146.1,248.0,-7.6,348,2758,0.10,2.10,0.00,0.000,6,0.166,0.054,2944,2237,3660,0,0,0,0,0,0
$GC,3079,-0.78,-146.1,269.2,-6.4,378,3082,0.00,2.17,0.00,0.000,4,0.000,0.064,2944,844,3661,0,0,0,0,0,0
$GC,3170,-0.78,-146.1,275.7,-6.8,386,3174,0.00,2.28,0.00,0.000,6,0.000,0.066,2937,2256,3660,0,0,0,0,0,0
$GC,3495,-0.78,-146.1,299.0,-7.1,416,3496,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2256,3660,0,0,0,0,0,0
$GC,3816,-0.78,-146.1,320.7,-6.2,446,3820,0.00,2.12,0.00,0.000,4,0.000,0.076,2928,3598,3660,0,0,0,0,0,0
$GC,3884,-0.78,-146.1,325.7,-7.1,452,3887,0.00,2.10,0.00,0.000,6,0.000,0.053,2927,2247,3661,0,0,0,0,0,0
$GC,4215,-0.78,-146.1,350.5,-7.6,483,4219,0.00,2.17,0.00,0.000,4,0.000,0.063,2926,834,3660,0,0,0,0,0,0
$GC,4256,-0.78,-146.1,354.1,-8.6,486,4260,0.10,2.28,0.00,0.000,6,0.163,0.065,2945,2250,3660,0,0,0,0,0,0
$GC,4581,-0.78,-146.1,377.8,-7.3,516,4582,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2250,3660,0,0,0,0,0,0
$GC,4901,-0.78,-146.1,398.6,-6.4,546,4902,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2249,3661,0,0,0,0,0,0
$GC,5220,-0.78,-146.1,418.4,-6.1,576,5221,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2250,3661,0,0,0,0,0,0
$GC,5536,-0.78,-146.1,438.2,-6.4,606,5537,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2249,3661,0,0,0,0,0,0
$GC,5854,-0.78,-146.1,458.2,-6.4,636,5858,0.00,2.15,0.00,0.000,4,0.000,0.074,2937,3601,3661,0,0,0,0,0,0
$GC,5889,-0.78,-146.1,460.5,-7.1,639,5893,0.00,2.08,0.00,0.000,6,0.000,0.050,2937,2235,3661,0,0,0,0,0,0
$GC,6219,-0.78,-146.1,481.5,-6.1,670,6223,0.00,2.15,0.00,0.000,4,0.000,0.061,2937,839,3661,0,0,0,0,0,0
$GC,6297,-0.78,-146.1,486.8,-7.1,676,6303,0.00,2.25,0.00,0.000,6,0.000,0.063,2928,2255,3661,0,0,0,0,0,0
$GC,6623,-0.78,-146.1,509.5,-6.7,707,6624,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2255,3662,0,0,0,0,0,0
$GC,6941,-0.78,-146.1,533.1,-7.6,737,6945,0.00,2.20,0.00,0.000,4,0.000,0.058,2928,844,3662,0,0,0,0,0,0
$GC,7031,-0.78,-146.1,540.6,-8.6,744,7037,0.10,2.25,0.00,0.000,6,0.161,0.062,2945,2263,3662,0,0,0,0,0,0
$GC,7356,-0.78,-146.1,560.6,-6.2,775,7360,0.00,2.10,0.00,0.000,4,0.000,0.072,2938,3605,3663,0,0,0,0,0,0
$GC,7383,-0.78,-146.1,562.4,-6.5,777,7389,0.00,2.08,0.00,0.000,6,0.000,0.048,2937,2244,3663,0,0,0,0,0,0
$GC,7709,-0.78,-146.1,582.7,-6.2,808,7712,0.00,2.15,0.00,0.000,4,0.000,0.059,2937,843,3663,0,0,0,0,0,0
$GC,7748,-0.78,-146.1,585.2,-6.7,811,7753,0.00,2.22,0.00,0.000,6,0.000,0.061,2928,2249,3663,0,0,0,0,0,0
$GC,8082,-0.78,-146.1,606.0,-6.2,837,8086,0.00,2.10,0.00,0.000,4,0.000,0.072,2918,3595,3664,0,0,0,0,0,0
$GC,8121,-0.78,-146.1,608.9,-7.0,838,8126,0.10,2.05,0.00,0.000,6,0.163,0.048,2945,2245,3663,0,0,0,0,0,0
$STATE,8172,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8172,begin apogee
$GC,8179,-0.17,0.0,611.8,5.4,840,8303,0.40,0.00,121.70,1.198,6,0.124,0.000,3078,2244,3058,0,0,0,0,0,0
$STATE,8304,end apogee,CONTROL_FINISHED_OK
$STATE,8304,begin climb
$GC,8307,0.78,146.1,613.8,0.0,844,8440,0.60,2.42,121.47,1.138,4,0.078,0.067,3288,3594,2461,0,0,0,0,0,0
$GC,8485,0.78,146.1,598.4,12.4,849,8489,0.00,2.28,0.00,0.000,6,0.000,0.047,3297,2205,2459,0,0,0,0,0,0
$GC,8810,0.78,146.1,561.1,12.2,879,8811,0.00,0.00,0.00,0.000,6,0.000,0.000,3297,2204,2457,0,0,0,0,0,0
$GC,9131,0.78,146.1,520.9,13.1,909,9135,0.00,2.25,0.00,0.000,4,0.000,0.059,3307,783,2455,0,0,0,0,0,0
$GC,9180,0.78,146.1,514.0,12.9,913,9187,0.10,2.33,0.00,0.000,6,0.175,0.060,3283,2213,2455,0,0,0,0,0,0
$GC,9505,0.78,146.1,476.6,11.1,944,9509,0.00,2.20,0.00,0.000,4,0.000,0.070,3283,3593,2454,0,0,0,0,0,0
$GC,9562,0.78,146.1,469.3,13.2,949,9566,0.00,2.17,0.00,0.000,6,0.000,0.048,3290,2195,2454,0,0,0,0,0,0
$GC,9887,0.78,146.1,428.2,12.2,979,9888,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,2194,2454,0,0,0,0,0,0
$GC,10208,0.78,146.1,390.7,11.5,1009,10209,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,2195,2454,0,0,0,0,0,0
$GC,10526,0.78,146.1,357.9,10.3,1039,10530,0.00,2.17,0.00,0.000,4,0.000,0.058,3296,794,2454,0,0,0,0,0,0
$GC,10560,0.78,146.1,354.5,10.1,1042,10564,0.00,2.22,0.00,0.000,6,0.000,0.059,3296,2201,2454,0,0,0,0,0,0
$GC,10884,0.78,146.1,321.7,10.2,1072,10888,0.00,2.17,0.00,0.000,4,0.000,0.070,3296,3597,2454,0,0,0,0,0,0
$GC,10981,0.78,146.1,310.8,11.6,1080,10986,0.10,2.12,0.00,0.000,6,0.183,0.048,3281,2199,2454,0,0,0,0,0,0
$GC,11306,0.80,160.2,281.2,9.4,1110,11323,0.00,2.25,11.55,0.925,4,0.000,0.058,3288,797,2403,0,0,0,0,0,0
$GC,11358,0.81,166.8,276.5,9.7,1114,11370,0.00,2.25,6.80,0.814,6,0.000,0.059,3288,2200,2378,0,0,0,0,0,0
$GC,11688,0.83,183.7,245.9,9.2,1145,11710,0.00,2.25,15.00,0.930,4,0.000,0.071,3288,3594,2307,0,0,0,0,0,0
$GC,11778,0.83,183.7,235.9,11.9,1153,11782,0.00,2.20,0.00,0.000,6,0.000,0.048,3296,2188,2305,0,0,0,0,0,0
$GC,12103,0.83,189.0,202.1,9.8,1183,12112,0.00,0.00,5.32,0.729,6,0.000,0.000,3296,2187,2287,0,0,0,0,0,0
$GC,12432,0.83,189.0,168.3,10.3,1214,12435,0.00,2.17,0.00,0.000,4,0.000,0.059,3307,798,2286,0,0,0,0,0,0
$GC,12466,0.83,189.0,164.7,10.1,1217,12470,0.00,2.25,0.00,0.000,6,0.000,0.060,3307,2198,2286,0,0,0,0,0,0
$GC,12791,0.83,189.0,127.3,12.1,1247,12795,0.00,2.22,0.00,0.000,4,0.000,0.073,3307,3599,2286,0,0,0,0,0,0
$GC,12819,0.83,189.0,123.7,12.8,1249,12824,0.10,2.17,0.00,0.000,6,0.181,0.050,3291,2195,2286,0,0,0,0,0,0
$GC,13150,0.88,226.2,89.3,8.3,1289,13186,0.00,2.30,30.75,0.891,4,0.000,0.069,3292,3598,2134,0,0,0,0,0,0
$GC,13221,0.88,226.2,82.6,10.3,1302,13227,0.00,2.22,0.00,0.000,6,0.000,0.051,3295,2196,2130,0,0,0,0,0,0
$GC,13565,0.89,234.0,51.4,9.6,1363,13577,0.00,2.30,6.57,0.721,4,0.000,0.061,3306,785,2104,0,0,0,0,0,0
$GC,13623,0.90,238.4,45.9,9.8,1373,13635,0.00,2.30,5.47,0.670,6,0.000,0.061,3306,2200,2086,0,0,0,0,0,0
$GC,13973,0.91,252.9,13.0,9.3,1435,13994,0.00,2.30,13.00,0.800,4,0.000,0.072,3306,3598,2027,0,0,0,0,0,0
$FREEZE,8.84,3.843,-1.835,0,1,0
$FREEZE,8.24,3.842,-1.835,0,1,0
$FREEZE,7.47,3.841,-1.834,0,1,0
$FREEZE,6.67,3.839,-1.834,0,1,0
$FREEZE,6.05,3.844,-1.833,0,1,0
$FREEZE,5.31,3.844,-1.833,0,1,0
$GC,14047,0.91,252.9,5.3,12.6,1448,14052,0.00,2.22,0.00,0.000,6,0.000,0.054,3307,2201,2023,0,0,0,0,0,0
$FREEZE,4.05,3.844,-1.832,0,1,0
$FREEZE,3.61,3.847,-1.831,0,1,0
$FREEZE,3.10,3.846,-1.831,0,1,0
$FREEZE,2.77,3.845,-1.831,0,1,0
$STATE,14074,end climb,SURFACE_DEPTH_REACHED
$STATE,14074,begin surface coast
$FREEZE,2.25,3.848,-1.830,0,1,0
$FREEZE,1.49,3.844,-1.830,0,1,0
$FREEZE,1.56,3.833,-1.831,0,1,0
$FREEZE,1.73,3.742,-1.828,0,1,0
$FREEZE,1.68,3.665,-1.800,0,1,0
$FREEZE,1.60,3.810,-1.589,0,1,0
$FREEZE,1.66,3.848,-1.830,0,1,0
$FINISH,1.7,1.026494
$STATE,14117,end surface coast,CONTROL_FINISHED_OK
$STATE,14117,begin surface
$SM_CCo,14136,37.92,0.826,0,0,1834,300.00
$SM_GC,2.52,0.00,0.00,37.92,0.000,0.000,0.826,340,2274,1834,-12.75,0.68,300.00
$RAFOS_CLK,527
$RAFOS,6,1276764543,8.833333,8.817500,86,84,48,44,39,39,847,848,1771,211,1463,1640
$RAFOS,5,1276764065,8.700000,8.684722,76,70,43,41,41,40,658,657,1065,185,1066,1679
$RAFOS,4,1276763587,8.566667,8.551945,68,65,49,43,42,40,868,869,1884,1622,1225,89
$RAFOS,3,1276763106,8.433333,8.418333,46,44,44,43,42,39,1533,656,1247,882,1324,1
$RAFOS,2,1276762628,8.300000,8.285556,45,44,43,41,40,39,404,405,571,296,332,1354
$RAFOS,1,1276762153,8.166667,8.153611,48,43,42,41,41,41,1662,231,1828,512,785,1160
$RAFOS,0,1276761667,8.033334,8.018611,42,42,41,41,40,39,559,107,1,1292,742,1654
$RAFOS_FIX,6703.790527,-5654.162109,170610,080822,3,77,0.81
$IRIDIUM_FIX,6631.12,-5704.33,110999,020244
$TT8_MAMPS,0.026845
$HUMID,39.72
$INTERNAL_PRESSURE,10.2738
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.0
$ALTIM_BOTTOM_PING,550.4,75.1
$24V_AH,23.6,10.469
$10V_AH,10.3,5.593
$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,19.600,115.025,337.650,37.925,0.000,27.420,41.101,186.246,2.000,0.000,15.554,2442.522,8716.450,484.643,2317.745,615.797,0.000,1675.508,0.000,2289.317,2520.000,16.069,0.000
$DEVICE_MAMPS,227.032,99.710,1198.054,826.059,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1072.089,1014.513,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135644
$DATA_FILE_SIZE,56716,1460
$CAP_FILE_SIZE,156768,0
$CFSIZE,260165632,244449280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1468.8
$GPS,170610,105231,6701.232,-5649.686,39,1.4,39,-37.5