version: 66.06
glider: 108
mission: 14
dive: 3
start: 6 9 110 5 12 38
data:
$ID,108
$MISSION,14
$DIVE,3
$D_SURF,3
$D_FLARE,3
$D_TGT,90
$D_ABORT,200
$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,30
$T_MISSION,45
$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,0.1
$D_OFFGRID,200
$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,375
$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,-178378.75
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,350
$PITCH_MAX,3700
$C_PITCH,3190
$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,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,294
$ROLL_MAX,3598
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$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,2
$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
$GPS1,050812,6700.460,-5649.123,7,1.3,11,-37.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-60.0
$GPS2,051220,6700.495,-5649.072,13,1.3,13,-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,47.0,4703,-18.1,-10.000
$D_GRID,571
$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,-0.78,-146.1,0.0,0.0,0,128,0.00,0.00,-109.00,0.000,2,0.000,0.000,348,2011,3517,0,0,0,0,0,0
$GC,133,-0.78,-146.1,3.5,-7.7,22,155,10.73,2.35,-2.97,0.000,4,0.252,0.077,3017,592,3659,0,0,0,0,0,0
$GC,409,-1.19,-146.1,31.6,-6.6,71,415,0.25,2.30,0.00,0.000,6,0.071,0.062,2909,2002,3663,0,0,0,0,0,0
$GC,753,-1.19,-146.1,70.1,-11.0,132,759,0.00,2.28,0.00,0.000,4,0.000,0.062,2909,580,3663,0,0,0,0,0,0
$STATE,922,end dive,TARGET_DEPTH_EXCEEDED
$STATE,922,begin apogee
$GC,931,-0.17,0.0,90.3,11.7,162,1055,0.80,0.00,114.30,0.938,6,0.140,0.000,3153,2207,3057,0,0,0,0,0,0
$STATE,1056,end apogee,CONTROL_FINISHED_OK
$STATE,1056,begin climb
$GC,1059,0.78,146.1,95.7,0.0,186,1183,0.57,2.38,115.50,0.871,4,0.057,0.070,3373,3595,2461,0,0,0,0,0,0
$GC,1190,0.31,146.1,91.0,10.7,211,1197,0.47,2.35,0.00,0.000,6,0.173,0.052,3257,2192,2458,0,0,0,0,0,0
$GC,1537,0.44,198.5,63.3,7.6,272,1584,0.10,2.38,41.17,0.875,4,0.118,0.071,3295,3591,2247,0,0,0,0,0,0
$GC,1840,0.32,198.5,28.1,12.5,326,1847,0.17,2.25,0.00,0.000,6,0.166,0.053,3258,2186,2237,0,0,0,0,0,0
$FREEZE,8.85,1.664,-1.833,0,1,0
$FREEZE,8.23,1.678,-1.832,0,1,0
$FREEZE,7.84,1.663,-1.832,0,1,0
$FREEZE,7.46,1.668,-1.832,0,1,0
$FREEZE,7.02,1.664,-1.832,0,1,0
$FREEZE,6.57,1.667,-1.831,0,1,0
$FREEZE,6.05,1.664,-1.831,0,1,0
$FREEZE,5.59,1.674,-1.831,0,1,0
$FREEZE,5.08,1.672,-1.830,0,1,0
$FREEZE,4.78,1.667,-1.830,0,1,0
$FREEZE,4.35,1.668,-1.830,0,1,0
$FREEZE,3.91,1.665,-1.829,0,1,0
$FREEZE,3.56,1.669,-1.829,0,1,0
$FREEZE,3.14,1.675,-1.829,0,1,0
$FREEZE,2.80,1.681,-1.828,0,1,0
$STATE,2160,end climb,SURFACE_DEPTH_REACHED
$STATE,2160,begin surface coast
$FREEZE,2.37,1.680,-1.828,0,1,0
$FREEZE,2.00,1.675,-1.828,0,1,0
$FREEZE,1.58,1.670,-1.828,0,1,0
$FREEZE,1.29,1.671,-1.828,0,1,0
$FREEZE,0.74,1.672,-1.827,0,1,0
$FREEZE,0.47,1.575,-1.832,0,1,0
$FREEZE,0.49,1.452,-0.134,0,1,0
$FREEZE,0.42,1.620,-0.053,0,1,0
$FINISH,0.4,1.000692
$STATE,2206,end surface coast,CONTROL_FINISHED_OK
$STATE,2206,begin surface
$SM_CCo,2225,110.97,0.848,0,0,1528,375.06
$SM_GC,1.43,0.00,0.00,110.97,0.000,0.000,0.848,342,1990,1528,-13.10,-0.28,375.06
$RAFOS_CLK,131
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5649.11,030999,050519
$TT8_MAMPS,0.027612
$HUMID,40.19
$INTERNAL_PRESSURE,10.1859
$TCM_TEMP,16.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.5
$24V_AH,23.8,3.094
$10V_AH,10.3,1.428
$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,21.000,19.225,270.975,110.975,0.000,0.000,0.000,0.000,0.250,0.000,15.289,577.179,765.582,425.694,579.563,65.277,0.000,772.818,0.000,571.275,0.000,2.614,0.000
$DEVICE_MAMPS,252.343,77.467,938.041,848.302,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,280.025,259.467,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,154252
$DATA_FILE_SIZE,15901,391
$CAP_FILE_SIZE,55832,0
$CFSIZE,260165632,247943168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.9
$GPS,090610,055252,6700.685,-5648.517,11,3.2,30,-37.5