version: 66.09
glider: 108
mission: 16
dive: 16
start: 9 8 111 8 49 23
data:
$ID,108
$MISSION,16
$DIVE,16
$N_DIVES,30
$D_SURF,4
$D_FLARE,3
$D_TGT,120
$D_ABORT,150
$D_NO_BLEED,50
$D_BOOST,20
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,44
$T_MISSION,55
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51502
$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,0.25
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-186762.7
$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,3294
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$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,2200
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,588
$VBD_MAX,3951
$C_VBD,3156
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,600
$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,-1
$PRESSURE_YINT,-22.96838
$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,5
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,4
$XPDR_VALID,5
$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
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,64
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044220644
$SEABIRD_T_H,0.00065538363
$SEABIRD_T_I,2.8550956e-05
$SEABIRD_T_J,3.214675e-06
$SEABIRD_C_G,-10.084064
$SEABIRD_C_H,1.1288997
$SEABIRD_C_I,-0.0014441535
$SEABIRD_C_J,0.00017831143
$GPS1,080911,084007,4806.340,-12222.153,40,1.2,40,16.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-84.3
$GPS2,080911,084853,4806.327,-12222.098,23,1.7,23,16.7
$SPEED_LIMITS,0.157,0.255
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$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,152.0,618,-16.6,-9.091
$D_GRID,108
$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,14,begin dive
$GC,17,-0.73,-146.6,0.0,0.0,0,82,0.00,0.00,-63.00,0.000,2,0.000,0.000,343,2209,3310,0,0,0,0,0,0
$GC,86,-0.73,-146.6,3.5,-6.4,11,112,10.38,2.10,-8.57,0.000,4,0.243,0.067,3045,3608,3756,0,0,0,0,0,0
$GC,178,-0.32,-146.6,20.7,-16.3,26,186,0.45,2.12,0.00,0.000,6,0.148,0.037,3192,2175,3760,0,0,0,0,0,0
$GC,327,-0.55,-146.6,31.3,-6.0,51,334,0.22,0.00,0.00,0.000,6,0.064,0.000,3086,2174,3762,0,0,0,0,0,0
$GC,473,-0.33,-146.6,49.3,-12.6,76,481,0.30,2.17,0.00,0.000,4,0.135,0.053,3174,3600,3763,0,0,0,0,0,0
$GC,506,-0.46,-146.6,52.7,-8.8,81,513,0.00,2.08,0.00,0.000,6,0.000,0.036,3174,2195,3763,0,0,0,0,0,0
$GC,654,-0.64,-146.6,62.7,-7.0,106,661,0.25,0.00,0.00,0.000,6,0.063,0.000,3047,2193,3763,0,0,0,0,0,0
$GC,799,-0.30,-146.6,84.0,-15.3,131,806,0.45,0.00,0.00,0.000,6,0.143,0.000,3191,2193,3763,0,0,0,0,0,0
$GC,945,-0.62,-146.6,93.7,-5.6,156,952,0.28,2.15,0.00,0.000,4,0.060,0.052,3051,3605,3764,0,0,0,0,0,0
$GC,971,-0.54,-146.6,96.6,-9.9,160,979,0.20,2.08,0.00,0.000,6,0.155,0.037,3114,2197,3764,0,0,0,0,0,0
$STATE,1075,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1075,begin apogee
$GC,1082,-0.17,0.0,108.1,-10.4,178,1199,0.35,0.00,110.90,0.907,6,0.125,0.000,3236,2002,3156,0,0,0,0,0,0
$STATE,1200,end apogee,CONTROL_FINISHED_OK
$STATE,1200,begin climb
$GC,1203,0.73,146.6,113.2,0.0,198,1324,0.85,2.35,110.62,0.858,4,0.093,0.046,3535,602,2558,0,0,0,0,0,0
$GC,1360,0.46,146.6,103.7,12.0,224,1368,0.32,2.30,0.00,0.000,6,0.151,0.043,3442,2008,2556,0,0,0,0,0,0
$GC,1509,0.59,177.5,92.1,7.8,249,1541,0.12,2.22,24.67,0.821,4,0.093,0.050,3497,3406,2430,0,0,0,0,0,0
$GC,1592,0.32,177.5,82.8,13.3,262,1599,0.38,2.17,0.00,0.000,6,0.147,0.038,3397,2010,2428,0,0,0,0,0,0
$GC,1739,0.78,270.0,73.1,5.3,287,1817,0.38,2.35,70.32,0.847,4,0.052,0.046,3569,596,2055,0,0,0,0,0,0
$GC,1865,0.63,270.0,54.0,17.2,308,1872,0.25,2.30,0.00,0.000,6,0.150,0.044,3500,2009,2053,0,0,0,0,0,0
$GC,2011,0.63,270.0,35.7,11.6,333,2018,0.00,2.20,0.00,0.000,4,0.000,0.053,3499,3421,2048,0,0,0,0,0,0
$GC,2082,0.58,270.0,26.2,13.0,345,2090,0.00,2.20,0.00,0.000,6,0.000,0.038,3507,1993,2046,0,0,0,0,0,0
$GC,2229,0.58,270.0,8.7,12.6,370,2236,0.00,2.17,0.00,0.000,4,0.000,0.047,3518,582,2046,0,0,0,0,0,0
$STATE,2268,end climb,SURFACE_DEPTH_REACHED
$STATE,2269,begin surface coast
$FINISH,2.2,1.019291
$STATE,2298,end surface coast,CONTROL_FINISHED_OK
$STATE,2298,begin surface
$SM_CCo,2320,78.20,0.075,0,0,1320,450.13
$SM_GC,1.30,0.00,0.00,78.20,0.000,0.000,0.075,345,2213,1320,-9.22,0.34,450.13,0,0,0,0,0,0
$RAFOS_CLK,44
$RAFOS,0,1315472647,9.083333,9.068611,47,44,43,43,43,41,991,151,241,393,1061,774
$RAFOS_FIX,4742.557617,-12145.949219,070911,232357,3,103,0.00
$IRIDIUM_FIX,4748.51,-12224.57,080911,080845
$TT8_MAMPS,0.028462,0.028462
$HUMID,58.34
$INTERNAL_PRESSURE,9.81483
$TCM_TEMP,19.50
$XPDR_PINGS,142
$ALTIM_TOP_PING,19.9,999.0
$24V_AH,24.3,1.728
$10V_AH,10.5,1.474
$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,23.725,35.825,316.525,78.200,0.000,0.000,0.000,357.150,36.000,0.000,24.671,851.940,576.676,461.001,914.130,137.618,0.000,1178.519,0.000,560.303,780.000,4.143,0.000
$DEVICE_MAMPS,242.505,67.320,907.290,74.970,0.000,0.000,0.000,238.198,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,254.420,282.474,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,319404
$DATA_FILE_SIZE,13495,382
$CAP_FILE_SIZE,51695,0
$CFSIZE,260165632,249401344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1483.9
$GPS,080911,093025,4806.016,-12221.994,16,1.5,16,16.7