version: 66.06
glider: 108
mission: 14
dive: 64
start: 6 17 110 21 1 24
data:
$ID,108
$MISSION,14
$DIVE,64
$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,605.89099
$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,-179905.92
$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,37
$R_STBD_OVSHOOT,29
$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
$GPS1,204338,6701.406,-5649.396,31,1.1,32,-37.5
$_CALLS,3
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-73.9
$GPS2,210102,6701.425,-5649.854,11,1.7,11,-37.5
$SPEED_LIMITS,0.173,0.263
$TGT_NAME,TARGET_test
$TGT_LATLONG,6700.000,-5705.000
$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,294.0,11274,-18.1,-10.000
$D_GRID,590
$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,12,begin dive
$GC,16,-0.78,-146.1,0.0,0.0,0,67,0.00,0.00,-49.42,0.000,2,0.000,0.000,335,2274,2948,0,0,0,0,0,0
$GC,71,-0.78,-146.1,3.1,-2.3,10,123,10.07,2.22,-32.00,0.000,4,0.235,0.088,2926,3594,3657,0,0,0,0,0,0
$GC,304,-0.78,-146.1,25.1,-12.6,52,310,0.00,2.15,0.00,0.000,6,0.000,0.051,2926,2243,3662,0,0,0,0,0,0
$GC,648,-0.78,-146.1,58.3,-9.7,113,654,0.00,2.22,0.00,0.000,4,0.000,0.062,2926,839,3663,0,0,0,0,0,0
$GC,834,-0.78,-146.1,77.3,-10.2,146,840,0.10,2.30,0.00,0.000,6,0.166,0.064,2943,2251,3663,0,0,0,0,0,0
$GC,1173,-0.78,-146.1,109.2,-9.6,198,1177,0.00,2.12,0.00,0.000,4,0.000,0.074,2934,3596,3663,0,0,0,0,0,0
$GC,1305,-0.78,-146.1,121.8,-9.2,209,1309,0.00,2.12,0.00,0.000,6,0.000,0.051,2934,2239,3663,0,0,0,0,0,0
$GC,1631,-0.78,-146.1,153.3,-9.5,239,1635,0.00,2.17,0.00,0.000,4,0.000,0.063,2934,842,3663,0,0,0,0,0,0
$GC,1761,-0.78,-146.1,165.6,-9.3,250,1766,0.00,2.28,0.00,0.000,6,0.000,0.064,2925,2250,3663,0,0,0,0,0,0
$GC,2086,-0.78,-146.1,195.8,-9.8,281,2090,0.00,2.25,0.00,0.000,4,0.000,0.062,2925,843,3662,0,0,0,0,0,0
$GC,2141,-0.78,-146.1,201.8,-10.3,285,2147,0.10,2.28,0.00,0.000,6,0.169,0.064,2941,2255,3662,0,0,0,0,0,0
$GC,2466,-0.78,-146.1,229.1,-8.0,316,2470,0.00,2.15,0.00,0.000,4,0.000,0.075,2933,3607,3662,0,0,0,0,0,0
$GC,2511,-0.78,-146.1,233.1,-8.9,319,2517,0.00,2.12,0.00,0.000,6,0.000,0.051,2933,2239,3662,0,0,0,0,0,0
$GC,2836,-0.78,-146.1,260.2,-8.1,350,2840,0.00,2.17,0.00,0.000,4,0.000,0.062,2933,843,3662,0,0,0,0,0,0
$GC,3001,-0.78,-146.1,273.7,-7.7,364,3005,0.00,2.28,0.00,0.000,6,0.000,0.064,2924,2262,3661,0,0,0,0,0,0
$GC,3332,-0.78,-146.1,299.6,-7.9,395,3333,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2262,3661,0,0,0,0,0,0
$GC,3652,-0.78,-146.1,324.9,-8.2,425,3654,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2262,3661,0,0,0,0,0,0
$GC,3970,-0.78,-146.1,350.9,-8.0,455,3974,0.00,2.25,0.00,0.000,4,0.000,0.061,2924,834,3661,0,0,0,0,0,0
$GC,4022,-0.78,-146.1,355.5,-8.4,459,4027,0.10,2.28,0.00,0.000,6,0.167,0.064,2940,2254,3661,0,0,0,0,0,0
$GC,4347,-0.78,-146.1,378.8,-6.9,489,4351,0.00,2.12,0.00,0.000,4,0.000,0.074,2933,3603,3660,0,0,0,0,0,0
$GC,4399,-0.78,-146.1,382.8,-7.7,493,4403,0.00,2.10,0.00,0.000,6,0.000,0.051,2932,2242,3660,0,0,0,0,0,0
$GC,4724,-0.78,-146.1,406.0,-7.1,523,4728,0.00,2.17,0.00,0.000,4,0.000,0.061,2932,837,3660,0,0,0,0,0,0
$GC,4826,-0.78,-146.1,413.9,-7.9,531,4831,0.00,2.28,0.00,0.000,6,0.000,0.064,2923,2263,3660,0,0,0,0,0,0
$GC,5151,-0.78,-146.1,438.0,-7.0,562,5154,0.00,2.10,0.00,0.000,4,0.000,0.074,2913,3595,3660,0,0,0,0,0,0
$GC,5210,-0.78,-146.1,442.5,-8.0,567,5215,0.12,2.08,0.00,0.000,6,0.156,0.050,2947,2249,3660,0,0,0,0,0,0
$GC,5535,-0.78,-146.1,463.4,-6.0,597,5539,0.00,2.17,0.00,0.000,4,0.000,0.060,2948,839,3661,0,0,0,0,0,0
$GC,5598,-0.78,-146.1,467.3,-6.2,602,5602,0.00,2.25,0.00,0.000,6,0.000,0.063,2940,2251,3661,0,0,0,0,0,0
$GC,5924,-0.78,-146.1,486.8,-6.4,632,5927,0.00,2.12,0.00,0.000,4,0.000,0.073,2930,3605,3661,0,0,0,0,0,0
$GC,6002,-0.78,-146.1,492.6,-7.6,638,6008,0.00,2.08,0.00,0.000,6,0.000,0.049,2930,2248,3661,0,0,0,0,0,0
$GC,6328,-0.78,-146.1,515.7,-7.0,669,6332,0.00,2.17,0.00,0.000,4,0.000,0.060,2930,837,3661,0,0,0,0,0,0
$GC,6384,-0.78,-146.1,519.9,-7.6,673,6390,0.00,2.25,0.00,0.000,6,0.000,0.061,2921,2252,3661,0,0,0,0,0,0
$GC,6709,-0.78,-146.1,542.9,-6.7,704,6714,0.10,2.10,0.00,0.000,4,0.163,0.071,2940,3596,3661,0,0,0,0,0,0
$GC,6805,-0.78,-146.1,549.1,-6.6,712,6809,0.00,2.05,0.00,0.000,6,0.000,0.048,2940,2242,3662,0,0,0,0,0,0
$GC,7137,-0.78,-146.1,568.1,-5.8,743,7141,0.00,2.15,0.00,0.000,4,0.000,0.059,2940,844,3662,0,0,0,0,0,0
$GC,7297,-0.78,-146.1,578.4,-7.0,756,7303,0.00,2.22,0.00,0.000,6,0.000,0.061,2930,2252,3662,0,0,0,0,0,0
$STATE,7481,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7481,begin apogee
$GC,7489,-0.17,0.0,590.4,6.6,774,7615,0.43,0.00,121.10,1.189,6,0.123,0.000,3074,2185,3057,0,0,0,0,0,0
$STATE,7616,end apogee,CONTROL_FINISHED_OK
$STATE,7616,begin climb
$GC,7619,0.78,146.1,592.0,0.0,787,7754,0.60,2.42,120.88,1.131,4,0.084,0.058,3292,797,2462,0,0,0,0,0,0
$GC,7793,0.78,146.1,576.2,11.9,803,7798,0.00,2.40,0.00,0.000,6,0.000,0.058,3292,2205,2460,0,0,0,0,0,0
$GC,8118,0.78,146.1,536.6,11.9,834,8119,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,2205,2457,0,0,0,0,0,0
$GC,8440,0.78,146.1,497.9,12.7,864,8444,0.00,2.22,0.00,0.000,4,0.000,0.069,3292,3594,2456,0,0,0,0,0,0
$GC,8484,0.78,146.1,491.2,14.0,867,8489,0.00,2.20,0.00,0.000,6,0.000,0.047,3302,2189,2455,0,0,0,0,0,0
$GC,8809,0.78,146.1,449.3,12.7,898,8810,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,2188,2455,0,0,0,0,0,0
$GC,9130,0.78,146.1,408.4,13.2,928,9131,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,2189,2455,0,0,0,0,0,0
$GC,9448,0.78,146.1,366.7,13.0,958,9449,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,2188,2455,0,0,0,0,0,0
$GC,9767,0.78,146.1,327.3,12.3,988,9768,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,2188,2455,0,0,0,0,0,0
$GC,10084,0.78,146.1,288.4,12.7,1018,10088,0.00,2.25,0.00,0.000,4,0.000,0.066,3303,3602,2455,0,0,0,0,0,0
$GC,10095,0.78,146.1,286.6,12.7,1018,10101,0.12,2.15,0.00,0.000,6,0.173,0.047,3279,2199,2455,0,0,0,0,0,0
$GC,10420,0.78,146.1,250.1,11.1,1049,10421,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,2198,2455,0,0,0,0,0,0
$GC,10741,0.78,146.1,214.3,10.9,1079,10745,0.00,2.17,0.00,0.000,4,0.000,0.058,3287,792,2455,0,0,0,0,0,0
$GC,10791,0.78,146.1,208.7,11.3,1083,10796,0.00,2.25,0.00,0.000,6,0.000,0.059,3287,2207,2456,0,0,0,0,0,0
$GC,11116,0.78,146.1,173.9,10.5,1114,11117,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,2207,2456,0,0,0,0,0,0
$GC,11434,0.79,154.4,141.2,9.6,1144,11444,0.00,0.00,7.12,0.791,6,0.000,0.000,3288,2207,2428,0,0,0,0,0,0
$GC,11763,0.85,200.5,112.2,7.9,1175,11807,0.00,2.33,37.25,0.906,4,0.000,0.071,3287,3602,2239,0,0,0,0,0,0
$GC,11826,0.86,211.8,106.7,9.5,1181,11841,0.00,2.22,10.43,0.793,6,0.000,0.050,3296,2203,2194,0,0,0,0,0,0
$GC,12178,0.88,221.5,75.3,9.6,1236,12194,0.00,2.28,8.55,0.775,4,0.000,0.061,3307,800,2155,0,0,0,0,0,0
$GC,12218,0.90,241.6,71.4,9.1,1243,12245,0.00,2.30,18.35,0.838,6,0.000,0.061,3307,2206,2072,0,0,0,0,0,0
$GC,12582,0.91,252.9,35.2,9.5,1308,12598,0.00,2.30,9.73,0.782,4,0.000,0.061,3315,789,2027,0,0,0,0,0,0
$GC,12644,0.91,252.9,28.7,10.5,1319,12650,0.00,2.33,0.00,0.000,6,0.000,0.062,3315,2204,2026,0,0,0,0,0,0
$FREEZE,8.51,2.091,-1.822,0,4,0
$FREEZE,8.02,2.090,-1.821,0,4,0
$FREEZE,7.41,2.093,-1.821,0,4,0
$FREEZE,6.91,2.095,-1.821,0,4,0
$FREEZE,6.38,2.095,-1.820,0,4,0
$STATE,12862,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,12863,begin subsurface finish
$FINISH1,6.4,1.026467,26
$GC,12870,0.03,26.2,6.4,-9.3,1358,12907,0.60,2.25,-30.60,0.000,4,0.124,0.090,3113,3601,2953,0,0,0,0,0,0
$FINISH2,5.0
$STATE,12908,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12908,begin surface
$RAFOS_CLK,498
$RAFOS,3,1276820706,0.433333,0.418333,52,50,44,43,42,39,1452,337,560,142,102,337
$RAFOS,2,1276820223,0.300000,0.284167,46,45,43,42,39,39,599,1538,757,1073,1,1539
$RAFOS,1,1276819746,0.166667,0.151667,47,43,43,42,42,41,213,1149,931,1039,1864,1562
$RAFOS,0,1276819262,0.033333,0.017222,46,43,42,42,42,42,1059,486,929,1009,1031,823
$RAFOS_FIX,6703.422852,-5645.919922,170610,161656,2,96,0.23
$IRIDIUM_FIX,6636.54,-5646.10,110999,202039
$TT8_MAMPS,0.029913
$HUMID,39.84
$INTERNAL_PRESSURE,10.3324
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,17.6
$24V_AH,23.6,10.918
$10V_AH,10.3,5.880
$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,12.350,103.975,333.400,0.000,0.000,83.484,146.716,457.292,1.750,0.000,13.399,2190.668,7992.720,440.647,2198.618,1115.736,0.000,1580.877,0.000,2178.448,1800.000,13.212,0.000
$DEVICE_MAMPS,234.702,98.943,1188.850,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1007.854,943.741,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135596
$DATA_FILE_SIZE,53623,1365
$CAP_FILE_SIZE,150569,0
$CFSIZE,260165632,244142080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.7
$GPS,170610,210102,6701.425,-5649.854,11,1.7,11,-37.5