version: 66.06
glider: 108
mission: 14
dive: 207
start: 7 18 110 11 49 26
data:
$ID,108
$MISSION,14
$DIVE,207
$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,-2
$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,-180906.45
$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,31
$R_STBD_OVSHOOT,24
$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
$GPS1,095126,6707.173,-5935.566,10,1.7,10,-38.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,2.1
$GPS2,095126,6707.173,-5935.566,10,1.7,10,-38.4
$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,132.1,121254,-18.1,-10.000
$D_GRID,1147
$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,17,-0.78,-146.1,0.0,0.0,0,119,0.00,0.00,-99.20,0.000,2,0.000,0.000,3362,3592,3382,0,0,0,0,0,0
$GC,123,-0.78,-146.1,3.1,-5.2,20,144,1.27,4.50,-11.25,0.000,4,0.114,0.066,2935,842,3657,0,0,0,0,0,0
$GC,185,-0.78,-146.1,10.5,-14.7,31,191,0.00,2.35,0.00,0.000,6,0.000,0.069,2925,2253,3660,0,0,0,0,0,0
$GC,529,-0.78,-146.1,53.9,-9.8,92,534,0.00,2.30,0.00,0.000,4,0.000,0.063,2926,842,3663,0,0,0,0,0,0
$GC,541,-0.78,-146.1,55.2,-9.5,94,548,0.10,2.35,0.00,0.000,6,0.164,0.067,2943,2262,3663,0,0,0,0,0,0
$GC,886,-0.78,-146.1,87.9,-9.3,155,891,0.00,2.30,0.00,0.000,4,0.000,0.063,2943,843,3664,0,0,0,0,0,0
$GC,1147,-0.78,-146.1,111.7,-9.1,190,1152,0.00,2.30,0.00,0.000,6,0.000,0.068,2936,2247,3664,0,0,0,0,0,0
$GC,1472,-0.78,-146.1,142.2,-9.3,220,1476,0.00,2.28,0.00,0.000,4,0.000,0.064,2936,836,3664,0,0,0,0,0,0
$GC,1631,-0.78,-146.1,157.6,-9.8,234,1635,0.00,2.35,0.00,0.000,6,0.000,0.070,2927,2257,3664,0,0,0,0,0,0
$GC,1957,-0.78,-146.1,187.6,-8.4,264,1961,0.00,2.28,0.00,0.000,4,0.000,0.064,2926,839,3663,0,0,0,0,0,0
$GC,2214,-0.78,-146.1,210.0,-8.2,286,2220,0.10,2.33,0.00,0.000,6,0.163,0.070,2945,2259,3662,0,0,0,0,0,0
$GC,2539,-0.78,-146.1,231.9,-6.6,317,2543,0.00,2.30,0.00,0.000,4,0.000,0.064,2945,836,3662,0,0,0,0,0,0
$GC,2741,-0.78,-146.1,246.3,-6.9,334,2746,0.00,2.35,0.00,0.000,6,0.000,0.070,2938,2263,3661,0,0,0,0,0,0
$GC,3066,-0.78,-146.1,269.4,-7.4,365,3070,0.00,2.30,0.00,0.000,4,0.000,0.064,2937,836,3661,0,0,0,0,0,0
$GC,3077,-0.78,-146.1,270.3,-7.7,365,3082,0.00,2.33,0.00,0.000,6,0.000,0.069,2928,2248,3661,0,0,0,0,0,0
$GC,3402,-0.78,-146.1,296.4,-8.3,396,3406,0.00,2.28,0.00,0.000,4,0.000,0.064,2928,838,3661,0,0,0,0,0,0
$STATE,3446,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3446,begin apogee
$GC,3456,-0.17,0.0,300.3,8.8,399,3577,0.47,0.00,117.90,1.062,6,0.125,0.000,3076,2212,3057,0,0,0,0,0,0
$STATE,3578,end apogee,CONTROL_FINISHED_OK
$STATE,3580,begin climb
$GC,3583,0.78,146.1,304.1,0.0,411,3711,0.60,2.50,118.28,0.993,4,0.087,0.077,3282,3600,2461,0,0,0,0,0,0
$GC,3961,0.80,159.6,273.8,9.4,445,3979,0.00,2.33,11.73,0.887,6,0.000,0.054,3291,2197,2407,0,0,0,0,0,0
$GC,4305,0.85,197.6,243.7,8.3,478,4346,0.00,2.42,31.90,0.963,4,0.000,0.065,3293,783,2251,0,0,0,0,0,0
$GC,4417,0.88,221.7,234.1,8.9,488,4443,0.00,2.42,21.02,0.923,6,0.000,0.065,3293,2207,2154,0,0,0,0,0,0
$GC,4762,0.90,244.7,203.1,8.9,520,4787,0.00,2.33,19.75,0.920,4,0.000,0.076,3293,3601,2059,0,0,0,0,0,0
$GC,4826,0.90,244.7,196.6,11.5,525,4832,0.00,2.28,0.00,0.000,6,0.000,0.052,3303,2197,2055,0,0,0,0,0,0
$GC,5152,0.90,244.7,164.1,10.0,556,5156,0.00,2.28,0.00,0.000,4,0.000,0.062,3312,785,2053,0,0,0,0,0,0
$GC,5214,0.91,253.2,158.0,9.6,561,5228,0.00,2.35,7.97,0.815,6,0.000,0.064,3312,2205,2024,0,0,0,0,0,0
$GC,5555,0.91,253.2,120.7,11.0,593,5559,0.00,2.28,0.00,0.000,4,0.000,0.077,3312,3605,2022,0,0,0,0,0,0
$GC,5599,0.91,253.2,115.2,12.8,596,5605,0.00,2.25,0.00,0.000,6,0.000,0.054,3321,2194,2020,0,0,0,0,0,0
$GC,5935,0.94,274.2,81.5,9.0,644,5961,0.00,2.38,18.55,0.894,4,0.000,0.074,3321,3590,1938,0,0,0,0,0,0
$GC,6176,0.96,287.0,57.5,9.4,687,6196,0.00,2.22,12.27,0.844,6,0.000,0.054,3330,2200,1886,0,0,0,0,0,0
$GC,6538,1.03,347.1,26.7,7.3,751,6595,0.00,2.40,51.20,0.888,4,0.000,0.074,3330,3596,1641,0,0,0,0,0,0
$FREEZE,8.96,4.231,-1.730,2,2,0
$FREEZE,8.42,4.221,-1.730,2,2,0
$FREEZE,8.05,4.221,-1.729,2,2,0
$GC,6749,1.09,393.5,11.2,7.9,789,6798,0.00,2.28,38.95,0.852,6,0.000,0.056,3333,2201,1451,0,0,0,0,0,0
$FREEZE,7.11,4.270,-1.726,2,2,0
$FREEZE,6.65,4.282,-1.725,2,2,0
$FREEZE,6.14,4.290,-1.725,2,2,0
$FREEZE,5.78,4.267,-1.725,2,2,0
$FREEZE,5.20,4.254,-1.725,2,2,0
$FREEZE,4.76,4.257,-1.724,2,2,0
$FREEZE,4.29,4.257,-1.724,2,2,0
$FREEZE,3.76,4.248,-1.724,2,2,0
$FREEZE,3.17,4.224,-1.725,2,2,0
$FREEZE,2.72,4.239,-1.724,2,2,0
$STATE,6853,end climb,SURFACE_DEPTH_REACHED
$STATE,6854,begin surface coast
$FREEZE,2.27,4.256,-1.722,2,2,0
$FREEZE,1.95,4.294,-1.720,2,2,0
$FREEZE,1.81,4.316,-0.062,2,2,0
$FREEZE,1.81,4.249,-0.063,2,2,0
$FREEZE,1.94,4.144,-0.063,2,2,0
$FREEZE,1.88,4.254,-0.057,2,2,0
$FINISH,1.9,1.000772
$STATE,6888,end surface coast,CONTROL_FINISHED_OK
$STATE,6888,begin surface
$RAFOS_CLK,311
$RAFOS,6,1279457353,12.833333,12.820278,42,41,41,41,41,40,61,200,1556,528,1770,394
$RAFOS,5,1279456868,12.700000,12.685555,118,110,50,50,45,44,813,812,1256,1296,210,1027
$RAFOS,4,1279456381,12.566667,12.550278,160,156,46,42,41,38,660,661,263,997,1447,1495
$RAFOS,3,1279455905,12.433333,12.418056,88,80,48,43,41,39,854,855,398,1768,104,321
$RAFOS,2,1279455422,12.300000,12.283889,142,137,42,42,41,40,793,792,664,931,1803,336
$RAFOS,1,1279454949,12.166667,12.152500,87,69,41,40,40,39,664,665,112,1121,1691,1645
$RAFOS,0,1279454464,12.033333,12.017777,92,82,46,43,42,40,786,787,1064,1396,151,1024
$RAFOS_FIX,6705.395996,-5934.238281,180710,121206,6,114,0.38
$IRIDIUM_FIX,6641.98,-5915.48,111099,212152
$TT8_MAMPS,0.026845
$HUMID,42.95
$INTERNAL_PRESSURE,10.1957
$TCM_TEMP,15.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,17.7
$ALTIM_BOTTOM_PING,300.3,6.5
$24V_AH,23.3,32.917
$10V_AH,10.1,19.015
$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,2.550,71.875,449.525,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1338.118,3714.084,486.481,1384.574,164.404,0.000,1261.904,0.000,1377.194,2520.000,7.041,0.000
$DEVICE_MAMPS,164.138,76.700,1061.528,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,594.335,558.948,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135768
$DATA_FILE_SIZE,31621,814
$CAP_FILE_SIZE,87520,0
$CFSIZE,260165632,231378944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.8
$GPS,180710,122306,6705.396,-5934.238,0,6114.5,0,-38.4