version: 66.06
glider: 108
mission: 14
dive: 69
start: 6 18 110 18 24 30
data:
$ID,108
$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,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,-179964.5
$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,26
$R_STBD_OVSHOOT,39
$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,2.5
$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
$GPS1,181207,6659.899,-5701.544,24,1.5,24,-37.5
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,2.53
$_SM_ANGLEo,-73.3
$GPS2,182408,6659.825,-5701.576,15,1.6,15,-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,314.9,2499,-27.3,-10.000
$D_GRID,707
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.99,-64.6,0.0,0.0,0,83,0.00,0.00,-64.32,0.000,2,0.000,0.000,330,2269,2978,0,0,0,0,0,0
$GC,86,-1.09,-146.1,3.2,-0.9,13,128,10.02,2.22,-23.27,0.000,4,0.242,0.095,2862,3571,3657,0,0,0,0,0,0
$GC,286,-1.09,-146.1,35.5,-17.0,49,291,0.00,2.15,0.00,0.000,6,0.000,0.058,2861,2248,3662,0,0,0,0,0,0
$GC,629,-1.09,-146.1,91.0,-15.6,110,635,0.00,2.28,0.00,0.000,4,0.000,0.070,2861,841,3664,0,0,0,0,0,0
$GC,743,-1.09,-146.1,108.5,-15.6,126,748,0.10,2.33,0.00,0.000,6,0.187,0.071,2875,2241,3664,0,0,0,0,0,0
$GC,1067,-1.09,-146.1,152.2,-13.1,156,1071,0.00,2.20,0.00,0.000,4,0.000,0.081,2867,3596,3664,0,0,0,0,0,0
$GC,1157,-1.09,-146.1,164.5,-14.1,163,1163,0.00,2.15,0.00,0.000,6,0.000,0.058,2867,2243,3664,0,0,0,0,0,0
$GC,1482,-1.09,-146.1,206.8,-13.1,194,1486,0.00,2.25,0.00,0.000,4,0.000,0.069,2867,833,3664,0,0,0,0,0,0
$GC,1683,-1.09,-146.1,233.2,-13.1,211,1689,0.00,2.33,0.00,0.000,6,0.000,0.071,2859,2249,3663,0,0,0,0,0,0
$GC,2009,-1.09,-146.1,277.3,-13.4,242,2012,0.00,2.17,0.00,0.000,4,0.000,0.081,2848,3597,3663,0,0,0,0,0,0
$GC,2087,-1.09,-146.1,288.6,-14.8,248,2093,0.10,2.15,0.00,0.000,6,0.193,0.058,2871,2240,3663,0,0,0,0,0,0
$GC,2412,-1.09,-146.1,330.1,-12.8,279,2416,0.00,2.22,0.00,0.000,4,0.000,0.070,2871,842,3663,0,0,0,0,0,0
$GC,2546,-1.09,-146.1,348.0,-13.5,290,2551,0.00,2.33,0.00,0.000,6,0.000,0.071,2864,2262,3663,0,0,0,0,0,0
$GC,2871,-1.09,-146.1,390.1,-13.0,321,2874,0.00,2.12,0.00,0.000,4,0.000,0.081,2853,3596,3663,0,0,0,0,0,0
$GC,2955,-1.09,-146.1,401.7,-14.0,328,2959,0.00,2.15,0.00,0.000,6,0.000,0.058,2854,2238,3663,0,0,0,0,0,0
$GC,3280,-1.09,-146.1,444.4,-12.8,358,3285,0.10,2.25,0.00,0.000,4,0.193,0.070,2877,829,3663,0,0,0,0,0,0
$GC,3409,-1.09,-146.1,459.8,-11.9,369,3414,0.00,2.33,0.00,0.000,6,0.000,0.071,2870,2257,3663,0,0,0,0,0,0
$GC,3734,-1.09,-146.1,496.7,-11.2,399,3738,0.00,2.15,0.00,0.000,4,0.000,0.081,2859,3599,3663,0,0,0,0,0,0
$GC,3808,-1.09,-146.1,505.4,-11.9,405,3812,0.00,2.12,0.00,0.000,6,0.000,0.057,2860,2249,3663,0,0,0,0,0,0
$GC,4133,-1.09,-146.1,543.4,-11.7,435,4137,0.00,2.22,0.00,0.000,4,0.000,0.068,2859,839,3663,0,0,0,0,0,0
$GC,4256,-1.09,-146.1,558.7,-11.9,445,4262,0.10,2.30,0.00,0.000,6,0.186,0.070,2874,2255,3663,0,0,0,0,0,0
$GC,4581,-1.09,-146.1,593.8,-10.8,476,4585,0.00,2.15,0.00,0.000,4,0.000,0.080,2866,3601,3663,0,0,0,0,0,0
$GC,4664,-1.09,-146.1,603.6,-11.8,481,4669,0.00,2.12,0.00,0.000,6,0.000,0.057,2866,2245,3663,0,0,0,0,0,0
$GC,4977,-1.09,-146.1,637.0,-10.7,491,4981,0.00,2.22,0.00,0.000,4,0.000,0.068,2866,832,3663,0,0,0,0,0,0
$GC,5091,-1.09,-146.1,649.3,-10.3,494,5095,0.00,2.30,0.00,0.000,6,0.000,0.070,2856,2250,3664,0,0,0,0,0,0
$GC,5414,-1.09,-146.1,685.0,-11.1,505,5418,0.00,2.15,0.00,0.000,4,0.000,0.079,2845,3598,3663,0,0,0,0,0,0
$GC,5527,-1.09,-146.1,698.8,-12.9,508,5531,0.12,2.12,0.00,0.000,6,0.179,0.056,2877,2240,3663,0,0,0,0,0,0
$STATE,5633,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5633,begin apogee
$GC,5640,-0.17,0.0,709.7,9.8,512,5767,0.62,0.00,123.62,1.304,6,0.134,0.000,3081,2239,3058,0,0,0,0,0,0
$STATE,5767,end apogee,CONTROL_FINISHED_OK
$STATE,5767,begin climb
$GC,5771,1.09,146.1,712.6,0.0,516,5904,0.77,2.42,124.12,1.235,4,0.078,0.074,3348,3591,2461,0,0,0,0,0,0
$GC,5932,1.09,146.1,697.3,15.5,521,5936,0.00,2.38,0.00,0.000,6,0.000,0.053,3358,2201,2458,0,0,0,0,0,0
$GC,6260,1.09,146.1,651.5,13.9,532,6265,0.00,2.35,0.00,0.000,4,0.000,0.065,3369,791,2457,0,0,0,0,0,0
$GC,6280,1.09,146.1,649.0,14.2,532,6284,0.00,2.38,0.00,0.000,6,0.000,0.065,3369,2203,2457,0,0,0,0,0,0
$GC,6593,1.09,146.1,603.8,14.4,542,6594,0.00,0.00,0.00,0.000,6,0.000,0.000,3369,2202,2456,0,0,0,0,0,0
$GC,6913,1.09,146.1,557.5,14.9,570,6918,0.00,0.00,0.00,0.000,6,0.000,0.000,3369,2202,2455,0,0,0,0,0,0
$GC,7241,1.09,146.1,510.3,13.6,601,7246,0.00,0.00,0.00,0.000,6,0.000,0.000,3369,2202,2455,0,0,0,0,0,0
$GC,7568,1.09,146.1,463.9,14.1,632,7569,0.00,0.00,0.00,0.000,6,0.000,0.000,3369,2202,2455,0,0,0,0,0,0
$GC,7884,1.09,146.1,420.5,13.5,662,7885,0.00,0.00,0.00,0.000,6,0.000,0.000,3369,2202,2455,0,0,0,0,0,0
$GC,8206,1.09,146.1,375.9,14.3,692,8211,0.00,0.00,0.00,0.000,6,0.000,0.000,3369,2202,2455,0,0,0,0,0,0
$GC,8533,1.09,146.1,328.8,14.3,723,8537,0.00,2.28,0.00,0.000,4,0.000,0.064,3378,788,2454,0,0,0,0,0,0
$GC,8561,1.09,146.1,324.5,13.8,725,8566,0.12,2.30,0.00,0.000,6,0.186,0.065,3348,2203,2455,0,0,0,0,0,0
$GC,8886,1.09,146.1,282.8,12.8,755,8887,0.00,0.00,0.00,0.000,6,0.000,0.000,3348,2203,2455,0,0,0,0,0,0
$GC,9204,1.09,146.1,243.9,11.9,785,9208,0.00,2.28,0.00,0.000,4,0.000,0.064,3355,785,2454,0,0,0,0,0,0
$GC,9215,1.09,146.1,242.5,11.7,785,9221,0.00,2.30,0.00,0.000,6,0.000,0.065,3356,2204,2455,0,0,0,0,0,0
$GC,9540,1.09,146.1,203.8,11.8,816,9541,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,2204,2455,0,0,0,0,0,0
$GC,9861,1.09,146.1,168.1,11.1,846,9865,0.00,2.25,0.00,0.000,4,0.000,0.064,3365,785,2455,0,0,0,0,0,0
$GC,9900,1.09,146.1,163.7,10.9,849,9904,0.00,2.30,0.00,0.000,6,0.000,0.067,3365,2202,2455,0,0,0,0,0,0
$GC,10225,1.09,148.2,129.9,9.8,879,10229,0.00,2.20,0.00,0.000,4,0.000,0.077,3365,3598,2455,0,0,0,0,0,0
$GC,10259,1.09,148.2,126.1,11.6,881,10265,0.10,2.20,0.00,0.000,6,0.198,0.056,3352,2197,2456,0,0,0,0,0,0
$GC,10586,1.10,157.6,95.8,9.0,916,10602,0.00,2.22,9.27,0.853,4,0.000,0.067,3360,789,2415,0,0,0,0,0,0
$GC,10643,1.11,159.4,90.1,9.8,926,10648,0.00,2.30,0.00,0.000,6,0.000,0.068,3360,2199,2416,0,0,0,0,0,0
$GC,10986,1.11,159.4,52.8,10.9,987,10992,0.00,2.25,0.00,0.000,4,0.000,0.080,3360,3601,2415,0,0,0,0,0,0
$GC,11061,1.11,159.4,43.9,11.9,1000,11066,0.00,2.22,0.00,0.000,6,0.000,0.058,3370,2190,2415,0,0,0,0,0,0
$GC,11406,1.13,178.1,12.4,8.1,1061,11427,0.00,0.00,17.33,0.872,6,0.000,0.000,3370,2190,2332,0,0,0,0,0,0
$FREEZE,8.57,-0.687,-1.789,0,1,0
$FREEZE,8.13,-0.690,-1.789,0,1,0
$FREEZE,7.65,-0.690,-1.789,0,1,0
$FREEZE,7.24,-0.686,-1.788,0,1,0
$FREEZE,6.71,-0.690,-1.788,0,1,0
$FREEZE,6.23,-0.697,-1.788,0,1,0
$FREEZE,5.78,-0.699,-1.788,0,1,0
$FREEZE,5.40,-0.695,-1.788,0,1,0
$FREEZE,4.89,-0.695,-1.787,0,1,0
$FREEZE,4.46,-0.705,-1.787,0,1,0
$FREEZE,3.91,-0.714,-1.787,0,1,0
$FREEZE,3.44,-0.739,-1.788,0,1,0
$FREEZE,2.84,-0.716,-1.786,0,1,0
$STATE,11516,end climb,SURFACE_DEPTH_REACHED
$STATE,11516,begin surface coast
$FREEZE,2.44,-0.710,-1.786,0,1,0
$FREEZE,1.87,-0.712,-1.785,0,1,0
$FREEZE,1.69,-0.706,-1.785,0,1,0
$FREEZE,1.59,-0.729,-1.787,0,1,0
$FREEZE,1.52,-0.684,-0.881,0,1,0
$FREEZE,1.83,-0.768,-1.789,0,1,0
$FINISH,1.8,1.026237
$STATE,11551,end surface coast,CONTROL_FINISHED_OK
$STATE,11551,begin surface
$SM_CCo,11571,96.75,0.859,0,0,1836,300.00
$SM_GC,2.51,0.00,0.00,96.75,0.000,0.000,0.859,333,2273,1836,-12.78,0.68,300.00
$RAFOS_CLK,479
$RAFOS,6,1276894151,20.833334,20.819723,69,65,48,46,41,41,767,766,1168,1798,551,1129
$RAFOS,5,1276893670,20.700001,20.686111,92,83,46,45,41,40,586,586,597,595,1663,1172
$RAFOS,4,1276893192,20.566668,20.553333,83,80,46,45,42,41,800,801,1737,1748,605,1550
$RAFOS,3,1276892705,20.433332,20.418056,51,47,46,45,39,39,953,1765,952,339,1,1766
$RAFOS,2,1276892228,20.299999,20.285555,42,40,40,39,38,38,1846,1847,1004,1015,1,172
$RAFOS,1,1276891745,20.166666,20.151388,55,50,49,45,44,43,1011,1544,1010,151,258,61
$RAFOS,0,1276891265,20.033333,20.018055,47,46,42,41,39,39,1740,565,1871,1323,934,989
$RAFOS_FIX,6702.218750,-5706.703613,180610,202044,3,81,0.69
$IRIDIUM_FIX,6631.12,-5658.34,120999,181817
$TT8_MAMPS,0.027612
$HUMID,39.36
$INTERNAL_PRESSURE,10.1762
$TCM_TEMP,15.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.2
$ALTIM_BOTTOM_PING,700.2,27.7
$24V_AH,23.3,11.749
$10V_AH,10.2,6.301
$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,20.275,94.250,274.350,96.750,0.000,56.195,62.101,370.170,2.750,0.000,17.141,1863.855,7373.790,484.886,1859.775,805.997,0.000,1444.229,0.000,1828.753,2520.000,21.231,0.000
$DEVICE_MAMPS,241.605,95.108,1303.900,859.040,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,786.392,781.578,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135656
$DATA_FILE_SIZE,44170,1087
$CAP_FILE_SIZE,129061,0
$CFSIZE,260165632,243785728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.1
$GPS,180610,214037,6700.238,-5705.410,35,0.9,35,-37.6