version: 66.07
glider: 22
mission: 14
dive: 105
start: 11 16 109 7 38 47
data:
$ID,22
$MISSION,14
$DIVE,105
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$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,330
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52177
$NAV_MODE,2
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0040048002
$HD_B,0.010364
$HD_C,5.4717998e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,19.66667
$TGT_DEFAULT_LON,-156.10001
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,8
$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,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-250581.81
$T_RSLEEP,5
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,380
$PITCH_MAX,3641
$C_PITCH,2495
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,18
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,150
$ROLL_MAX,3954
$ROLL_DEG,40
$C_ROLL_DIVE,2920
$C_ROLL_CLIMB,2750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,60
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3841
$C_VBD,2618
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,1
$AH0_24V,91.800003
$AH0_10V,61.200001
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-22.757658
$PRESSURE_SLOPE,0.00011632
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,1.7
$TCM_ROLL_OFFSET,-0.89999998
$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,10
$ALTIM_FREQUENCY,15
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,69
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,19
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044149966
$SEABIRD_T_H,0.00064680085
$SEABIRD_T_I,2.5778523e-05
$SEABIRD_T_J,2.7323422e-06
$SEABIRD_C_G,-10.507483
$SEABIRD_C_H,1.1800622
$SEABIRD_C_I,-0.00046262925
$SEABIRD_C_J,0.00014728548
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,50000.0
$GPS1,161109,073351,1924.180,-15558.559,58,3.1,77,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-68.2
$GPS2,161109,073807,1924.251,-15558.567,13,1.3,30,9.7
$SPEED_LIMITS,0.143,0.294
$TGT_NAME,VM
$TGT_LATLONG,1924.000,-15558.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.281,-0.085
$KALMAN_X,-239572.0,1469.9,640.0,267082.8,-13299.5
$KALMAN_Y,70951.5,-408.9,-1267.6,-128727.3,5239.0
$MHEAD_RNG_PITCHd_Wd,105.4,1095,-33.1,-10.000
$D_GRID,990
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-1.89,-45.7,0.0,0.0,0,86,0.00,0.00,-71.85,0.000,2,0.000,0.000,373,2905,2614,0,0,0,0,0,0
$GC,88,-1.91,-65.8,3.2,-7.1,14,109,9.25,2.40,-7.45,0.000,4,0.161,0.058,2076,1535,2887,0,0,0,0,0,0
$GC,284,-1.91,-65.8,66.3,-33.0,38,290,0.00,2.40,0.00,0.000,6,0.000,0.044,2075,2912,2889,0,0,0,0,0,0
$GC,494,-1.91,-65.8,119.6,-21.7,53,494,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2913,2891,0,0,0,0,0,0
$GC,797,-1.91,-65.8,183.6,-21.0,63,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2913,2894,0,0,0,0,0,0
$GC,1101,-1.91,-65.8,243.6,-18.5,73,1101,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,2913,2894,0,0,0,0,0,0
$GC,1405,-1.91,-65.8,293.6,-15.7,83,1408,0.00,1.85,0.00,0.000,4,0.000,0.057,2074,3956,2895,0,0,0,0,0,0
$GC,1549,-1.91,-65.8,316.7,-14.1,86,1552,0.00,1.73,0.00,0.000,6,0.000,0.040,2074,2906,2895,0,0,0,0,0,0
$GC,1898,-1.91,-65.8,365.1,-14.0,92,1898,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2902,2895,0,0,0,0,0,0
$GC,2199,-1.91,-65.8,406.3,-13.3,97,2203,0.00,1.90,0.00,0.000,4,0.000,0.058,2074,3952,2894,0,0,0,0,0,0
$GC,2301,-1.91,-65.8,421.4,-14.9,98,2305,0.00,1.75,0.00,0.000,6,0.000,0.041,2074,2925,2894,0,0,0,0,0,0
$GC,2629,-1.91,-65.8,468.7,-14.2,104,2633,0.00,1.85,0.00,0.000,4,0.000,0.059,2074,3946,2893,0,0,0,0,0,0
$GC,2677,-1.91,-65.8,475.9,-14.6,104,2681,0.00,1.77,0.00,0.000,6,0.000,0.041,2074,2912,2892,0,0,0,0,0,0
$GC,2994,-1.91,-65.8,516.5,-12.7,110,2998,0.00,1.90,0.00,0.000,4,0.000,0.061,2074,3950,2889,0,0,0,0,0,0
$GC,3170,-1.91,-65.8,539.2,-13.2,112,3174,0.00,1.77,0.00,0.000,6,0.000,0.042,2074,2926,2887,0,0,0,0,0,0
$GC,3488,-1.91,-65.8,577.6,-12.0,118,3492,0.00,2.45,0.00,0.000,4,0.000,0.051,2075,1506,2885,0,0,0,0,0,0
$GC,3541,-1.91,-65.8,583.7,-11.4,118,3545,0.00,2.53,0.00,0.000,6,0.000,0.051,2074,2914,2885,0,0,0,0,0,0
$GC,3853,-1.91,-65.8,620.3,-11.6,124,3854,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2914,2882,0,0,0,0,0,0
$GC,4155,-1.91,-65.8,653.8,-11.1,129,4159,0.00,2.50,0.00,0.000,4,0.000,0.056,2074,1529,2880,0,0,0,0,0,0
$GC,4171,-1.91,-65.8,655.6,-11.3,129,4174,0.00,2.55,0.00,0.000,6,0.000,0.060,2074,2923,2880,0,0,0,0,0,0
$GC,4520,-1.91,-65.8,696.7,-11.7,135,4524,0.00,2.55,0.00,0.000,4,0.000,0.061,2074,1525,2879,0,0,0,0,0,0
$GC,4696,-1.91,-65.8,716.5,-11.4,137,4700,0.00,2.60,0.00,0.000,6,0.000,0.065,2074,2925,2877,0,0,0,0,0,0
$GC,5013,-1.91,-65.8,749.2,-10.1,143,5018,0.00,2.03,0.00,0.000,4,0.000,0.107,2074,3947,2874,0,0,0,0,0,0
$GC,5136,-1.91,-65.8,762.0,-10.4,144,5143,0.00,1.85,0.00,0.000,6,0.000,0.058,2074,2946,2873,0,0,0,0,0,0
$GC,5443,-1.91,-67.9,791.5,-9.7,150,5448,0.00,2.72,0.00,0.000,4,0.000,0.090,2074,1510,2871,0,0,0,0,0,0
$GC,5507,-1.92,-72.5,797.6,-9.3,151,5511,0.00,2.70,0.00,0.000,6,0.000,0.083,2074,2918,2870,0,0,0,0,0,0
$GC,5873,-1.92,-76.2,832.2,-9.5,157,5876,0.00,2.75,0.00,0.000,4,0.000,0.101,2074,1504,2869,0,0,0,0,0,0
$GC,5931,-1.92,-77.2,838.1,-9.8,157,5937,0.00,2.80,0.00,0.000,6,0.000,0.101,2074,2928,2868,0,0,0,0,0,0
$GC,6238,-1.93,-78.8,868.2,-9.8,163,6238,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2928,2866,0,0,0,0,0,0
$GC,6540,-1.94,-88.5,894.7,-8.6,168,6544,0.00,2.95,0.00,0.000,4,0.000,0.137,2074,1515,2866,0,0,0,0,0,0
$GC,6571,-1.95,-96.1,897.5,-8.9,168,6576,0.00,2.97,0.00,0.000,6,0.000,0.130,2074,2924,2866,0,0,0,0,0,0
$GC,6905,-1.95,-98.7,929.2,-9.6,174,6905,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2925,2865,0,0,0,0,0,0
$GC,7206,-1.95,-98.7,960.8,-10.5,179,7211,0.00,3.28,0.00,0.000,4,0.000,0.182,2074,1519,2865,0,0,0,0,0,0
$GC,7281,-1.95,-98.7,969.5,-12.1,180,7285,0.00,3.22,0.00,0.000,6,0.000,0.174,2074,2931,2864,0,0,0,0,0,0
$STATE,7508,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7508,begin apogee
$GC,7512,-0.28,0.0,995.5,11.3,184,7572,1.85,0.00,56.28,1.328,6,0.134,0.000,2432,2756,2618,0,0,0,0,0,0
$STATE,7573,end apogee,CONTROL_FINISHED_OK
$STATE,7573,begin climb
$GC,7575,1.95,98.7,996.9,0.0,185,7675,2.33,0.00,96.70,1.305,6,0.082,0.000,2917,2756,2214,0,0,0,0,0,0
$GC,7989,1.95,98.7,918.5,21.9,192,7993,0.00,3.03,0.00,0.000,4,0.000,0.145,2917,1325,2204,0,0,0,0,0,0
$GC,8138,1.95,98.7,887.6,19.9,194,8142,0.00,2.95,0.00,0.000,6,0.000,0.117,2917,2758,2202,0,0,0,0,0,0
$GC,8471,1.95,98.7,815.9,22.0,200,8474,0.00,2.78,0.00,0.000,4,0.000,0.090,2917,1323,2200,0,0,0,0,0,0
$GC,8561,1.95,98.7,797.1,20.4,201,8566,0.00,2.75,0.00,0.000,6,0.000,0.076,2917,2757,2199,0,0,0,0,0,0
$GC,8900,1.95,98.7,728.4,20.2,207,8904,0.00,2.67,0.00,0.000,4,0.000,0.067,2917,1329,2198,0,0,0,0,0,0
$GC,9146,1.95,98.7,683.1,17.5,210,9149,0.00,2.58,0.00,0.000,6,0.000,0.054,2917,2766,2197,0,0,0,0,0,0
$GC,9458,1.95,98.7,628.0,17.5,216,9461,0.00,2.60,0.00,0.000,4,0.000,0.057,2917,1320,2195,0,0,0,0,0,0
$GC,9703,1.95,98.7,583.9,18.7,219,9707,0.00,2.58,0.00,0.000,6,0.000,0.050,2917,2751,2195,0,0,0,0,0,0
$GC,10016,1.95,98.7,528.8,17.5,225,10019,0.00,2.55,0.00,0.000,4,0.000,0.052,2917,1313,2193,0,0,0,0,0,0
$GC,10261,1.95,98.7,487.6,16.4,228,10265,0.00,2.58,0.00,0.000,6,0.000,0.048,2917,2754,2194,0,0,0,0,0,0
$GC,10573,1.95,98.7,438.1,15.8,234,10577,0.00,2.55,0.00,0.000,4,0.000,0.050,2917,1306,2192,0,0,0,0,0,0
$GC,10615,1.95,98.7,431.2,15.5,234,10619,0.00,2.58,0.00,0.000,6,0.000,0.046,2917,2757,2193,0,0,0,0,0,0
$GC,10938,1.95,98.7,384.0,14.5,240,10942,0.00,2.58,0.00,0.000,4,0.000,0.048,2917,1307,2192,0,0,0,0,0,0
$GC,11184,1.95,98.7,348.7,13.1,243,11188,0.00,2.55,0.00,0.000,6,0.000,0.044,2917,2753,2193,0,0,0,0,0,0
$GC,11496,1.95,98.7,309.1,12.5,249,11500,0.00,2.55,0.00,0.000,4,0.000,0.048,2917,1313,2192,0,0,0,0,0,0
$GC,11581,1.95,98.7,298.1,13.5,250,11585,0.00,2.55,0.00,0.000,6,0.000,0.044,2917,2763,2192,0,0,0,0,0,0
$GC,11897,1.95,98.7,263.6,10.3,260,11901,0.00,2.55,0.00,0.000,4,0.000,0.047,2917,1317,2192,0,0,0,0,0,0
$GC,11972,1.96,112.6,256.7,8.0,262,11986,0.00,2.50,9.18,0.755,6,0.000,0.043,2917,2769,2158,0,0,0,0,0,0
$GC,12296,1.96,112.6,220.9,10.8,273,12299,0.00,2.12,0.00,0.000,4,0.000,0.057,2917,3947,2157,0,0,0,0,0,0
$GC,12375,1.96,112.6,211.7,11.7,275,12379,0.00,2.15,0.00,0.000,6,0.000,0.039,2917,2705,2155,0,0,0,0,0,0
$GC,12695,1.97,119.8,181.8,9.0,286,12708,0.00,2.40,8.00,0.673,4,0.000,0.045,2917,1344,2129,0,0,0,0,0,0
$GC,12929,1.99,132.7,161.2,8.1,293,12949,0.00,2.45,13.25,0.696,6,0.000,0.041,2917,2753,2074,0,0,0,0,0,0
$GC,13252,1.99,132.7,123.5,12.1,304,13253,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2753,2072,0,0,0,0,0,0
$GC,13557,2.02,165.1,91.4,5.3,320,13592,0.00,2.12,28.90,0.642,4,0.000,0.049,2917,3943,1942,0,0,0,0,0,0
$GC,13833,2.05,190.2,67.8,6.3,346,13860,0.08,2.03,22.58,0.594,6,0.062,0.036,2942,2732,1842,0,0,0,0,0,0
$GC,14045,2.05,190.2,45.1,13.1,366,14049,0.00,2.15,0.00,0.000,4,0.000,0.050,2942,3941,1838,0,0,0,0,0,0
$GC,14190,2.05,190.2,23.0,14.3,379,14195,0.00,1.98,0.00,0.000,6,0.000,0.036,2942,2739,1836,0,0,0,0,0,0
$STATE,14337,end climb,SURFACE_DEPTH_REACHED
$STATE,14337,begin surface coast
$FINISH,0.2,1.023176
$STATE,14357,end surface coast,CONTROL_FINISHED_OK
$STATE,14357,begin surface
$SM_CCo,14375,108.72,0.512,0,0,986,400.08
$SM_GC,0.87,0.00,0.00,108.72,0.000,0.000,0.512,373,2943,986,-9.76,0.65,400.08
$IRIDIUM_FIX,1916.08,-15557.38,110511,212138
$TT8_MAMPS,0.059826
$HUMID,1078634184
$TCM_TEMP,23.80
$XPDR_PINGS,0
$24V_AH,23.4,18.828
$10V_AH,10.0,45.125
$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,24.700,127.475,234.875,108.725,0.000,25.498,26.045,100.631,0.000,0.000,30.314,0.000,12081.441,496.518,1793.051,358.719,33.341,1292.684,0.000,1483.416,0.000,0.531,0.000
$DEVICE_MAMPS,161.070,181.779,1328.444,511.589,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,273.680,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353840
$DATA_FILE_SIZE,12732,409
$CAP_FILE_SIZE,115336,0
$CFSIZE,260034560,248971264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.061, 19.4,1
$GPS,161109,114107,1923.993,-15557.281,35,1.3,35,9.7