version: 66.06
glider: 1
mission: 14
dive: 91
start: 10 10 109 18 39 47
data:
$ID,1
$MISSION,14
$DIVE,91
$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,-3
$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,-221100.91
$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,12
$R_STBD_OVSHOOT,0
$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,72.323967
$FG_AHR_24V,4.6384077
$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
$GPS1,184034,6649.923,-5848.637,26,1.1,26,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,184403,6649.891,-5848.696,24,1.1,24,18.0
$SPEED_LIMITS,0.122,0.234
$TGT_NAME,HOLD
$TGT_LATLONG,6400.000,-5448.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.113,-0.204
$KALMAN_X,-10586.3,-963.6,-4387.6,-1479.6,900.3
$KALMAN_Y,6300.0,158.2,-351.9,-11187.6,-130.5
$MHEAD_RNG_PITCHd_Wd,133.0,370382,-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,-146.6,0.0,0.0,0,93,0.00,0.00,-56.15,0.000,6,0.007,0.007,412,1737,3103,0,0,0,0,0,0
$GC,97,-0.99,-146.6,3.1,-1.8,12,123,10.50,2.15,0.00,0.007,4,0.000,0.000,2526,384,3107,11,0,14,0,0,0
$GC,196,-0.61,-146.6,18.6,-20.5,29,207,0.55,4.22,0.00,0.000,6,0.000,0.000,2665,2425,3102,1,0,24,0,0,0
$GC,405,-0.61,-146.6,48.8,-8.7,49,421,0.50,3.53,0.00,0.007,4,0.000,0.000,2530,502,3105,1,0,19,0,0,0
$GC,672,-0.61,-146.6,72.7,-9.4,72,681,0.30,2.70,0.00,0.007,6,0.000,0.000,2608,2134,3102,1,0,13,0,0,0
$STATE,954,end dive,TARGET_DEPTH_EXCEEDED
$STATE,954,begin apogee
$GC,962,-0.31,0.0,100.6,10.0,99,1091,0.00,0.00,120.07,7.966,6,0.007,0.000,2612,2019,2510,0,0,0,0,0,0
$STATE,1092,end apogee,CONTROL_FINISHED_OK
$STATE,1092,begin climb
$GC,1095,0.99,146.6,107.1,0.0,112,1234,1.52,2.90,121.38,0.000,4,0.000,0.000,2942,270,1906,1,0,15,0,0,0
$GC,1425,1.02,168.4,91.3,6.3,142,1452,0.45,3.12,17.27,0.000,6,0.000,0.000,2803,2161,1825,1,0,16,0,0,0
$GC,1770,1.05,197.2,70.3,6.1,174,1806,1.08,2.28,27.42,0.000,4,0.000,0.000,3028,3573,1699,2,0,14,0,0,0
$GC,2059,1.10,238.7,53.0,5.7,199,2101,0.68,3.28,32.50,0.000,6,0.000,0.000,2884,1856,1543,1,0,19,0,0,0
$GC,2419,1.19,238.7,28.4,7.1,233,2431,0.40,3.08,4.22,0.000,4,0.007,0.000,3007,3551,1531,1,0,15,0,0,0
$GC,2507,1.33,259.3,23.0,6.4,241,2532,0.00,3.40,15.65,0.000,6,0.000,0.000,3008,1720,1465,0,0,18,0,0,0
$GC,2733,1.52,259.3,6.7,7.2,277,2754,0.40,3.83,4.00,0.000,4,0.000,0.000,3089,3592,1451,1,0,18,0,0,0
$GC,2761,1.68,305.7,5.1,5.5,281,2807,0.35,3.97,29.40,0.000,6,0.000,0.000,2987,1626,1267,1,0,20,0,0,0
$STATE,2811,end climb,SURFACE_DEPTH_REACHED
$STATE,2811,begin surface coast
$FINISH,1.4,1.009369
$STATE,2879,end surface coast,CONTROL_FINISHED_OK
$STATE,2879,begin surface
$SM_CCo,2965,0.00,0.000,0,0,1269,301.47
$SM_GC,0.05,12.52,0.00,0.00,0.000,0.007,0.007,391,2364,1269,-10.35,9.56,301.47
$SUPER,3,254,254,0,0,0
$RAFOS_CLK,0
$RAFOS_FIX,6625.273438,-5713.895996,101009,161601,5,80,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078072612
$INTERNAL_PRESSURE,16.2606
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,248.375
$10V_AH,10.7,37.928
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,72.355
$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,29.250,40.100,371.925,0.000,0.000,0.000,0.000,71.887,0.000,0.000,24.715,509.148,1633.992,506.860,334.737,198.698,33.332,594.443,0.000,312.934,0.000,3.033,0.000
$DEVICE_MAMPS,119.000,60.000,7966.241,0.000,0.000,103.000,0.000,223.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,182.003,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,337144
$DATA_FILE_SIZE,9592,302
$CAP_FILE_SIZE,49365,0
$CFSIZE,260165632,245919744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,33,215,0,0
$SOUNDSPEED,1446.4
$GPS,101009,193536,6649.739,-5849.559,8,1.1,8,18.0