version: 66.05
glider: 159
mission: 3
dive: 11
start: 6 18 109 1 42 19
data:
$ID,159
$MISSION,3
$DIVE,11
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,80
$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,40
$T_MISSION,65
$T_ABORT,1440
$T_TURN,270
$T_TURN_SAMPINT,5
$T_NO_W,240
$T_LOITER,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51634
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0041149999
$HD_B,0.014024
$HD_C,5.5727e-05
$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,580
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-84162.961
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,137
$PITCH_MAX,3974
$C_PITCH,2754
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.1
$PITCH_GAIN,26
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,253
$ROLL_MAX,4045
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,188
$VBD_MAX,3616
$C_VBD,3060
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$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,5.1488705
$FG_AHR_24V,3.9220865
$PHONE_SUPPLY,2
$PRESSURE_YINT,-12.938553
$PRESSURE_SLOPE,0.0001162598
$AD7714Ch0Gain,128
$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,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,5
$DEVICE1,2
$DEVICE2,39
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043238276
$SEABIRD_T_H,0.00063342927
$SEABIRD_T_I,2.5365067e-05
$SEABIRD_T_J,2.820881e-06
$SEABIRD_C_G,-10.044323
$SEABIRD_C_H,1.1187451
$SEABIRD_C_I,-0.0012779017
$SEABIRD_C_J,0.00018763109
$GPS1,014250,4807.922,-12222.934,8,1.8,8,18.3
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-75.9
$GPS2,014952,4807.947,-12222.978,11,2.1,30,18.3
$SPEED_LIMITS,0.125,0.187
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.065,-0.175
$KALMAN_X,-591.4,-204.8,-29.6,392.8,-25.0
$KALMAN_Y,2154.1,822.7,139.0,-1551.2,41.0
$MHEAD_RNG_PITCHd_Wd,141.2,3804,-31.4,-12.500
$D_GRID,103
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.33,-97.8,0.0,0.0,0,143,0.00,0.00,-113.50,0.000,2,0.007,0.000,151,2198,3323,0,0,0,0,0,0
$GC,148,-1.33,-97.8,3.3,-7.0,22,166,8.10,2.15,-3.42,0.000,4,0.223,0.052,2298,788,3462,0,0,0,0,0,0
$GC,174,-1.33,-97.8,7.7,-14.5,26,180,0.03,2.10,0.00,0.043,6,0.043,0.040,2297,2201,3462,0,0,0,0,0,0
$GC,247,-1.33,-97.8,16.5,-12.1,39,254,0.00,2.17,0.00,0.007,4,0.007,0.049,2299,776,3461,0,0,0,0,0,0
$GC,261,-1.33,-97.8,18.5,-12.7,41,267,0.00,2.12,0.00,0.011,6,0.043,0.040,2290,2199,3462,0,0,0,0,0,0
$GC,334,-1.33,-97.8,29.4,-16.0,54,341,0.03,2.10,0.00,0.007,4,0.007,0.036,2289,3604,3462,0,0,0,0,0,0
$GC,391,-1.33,-97.8,38.6,-15.9,64,398,0.03,2.10,0.00,0.023,6,0.023,0.029,2299,2197,3463,0,0,0,0,0,0
$GC,468,-1.33,-97.8,45.8,-9.1,77,473,0.00,2.08,0.00,0.007,4,0.007,0.056,2299,788,3462,0,0,0,0,0,0
$GC,536,-1.33,-97.8,54.3,-13.3,89,543,0.03,2.05,0.00,0.012,6,0.012,0.035,2299,2210,3462,0,0,0,0,0,0
$GC,679,-1.33,-97.8,75.5,-17.6,114,685,0.00,2.05,0.00,0.007,4,0.000,0.047,2290,3596,3463,0,0,0,0,0,0
$STATE,835,end dive,TARGET_DEPTH_EXCEEDED
$STATE,835,begin apogee
$GC,844,-0.19,0.0,103.7,16.7,142,923,1.17,0.00,72.12,0.744,6,0.178,0.043,2665,1998,3060,0,0,0,0,0,0
$STATE,924,end apogee,CONTROL_FINISHED_OK
$STATE,924,begin climb
$GC,926,1.33,97.8,108.4,0.0,157,1010,1.35,0.00,73.15,0.717,6,0.085,0.059,3157,1998,2661,0,0,0,0,0,0
$GC,1145,1.33,97.8,82.3,15.4,197,1151,0.00,2.15,0.00,0.007,4,0.007,0.053,3156,3408,2660,0,0,0,0,0,0
$GC,1451,1.33,97.8,40.3,12.6,252,1458,0.00,2.12,0.00,0.026,6,0.026,0.034,3158,2006,2660,0,0,0,0,0,0
$GC,1588,1.38,135.4,26.2,9.2,277,1622,0.00,2.20,28.05,0.778,4,0.007,0.048,3158,3401,2507,0,0,0,0,0,0
$STATE,1747,end climb,SURFACE_DEPTH_REACHED
$STATE,1747,begin surface coast
$FINISH,2.1,1.019749
$STATE,1775,end surface coast,CONTROL_FINISHED_OK
$STATE,1775,begin surface
$SM_CCo,1797,334.75,0.698,0,0,696,580.13
$SM_GC,0.06,0.00,0.00,334.75,0.007,-0.000,0.698,150,2184,696,-8.14,-0.42,580.13
$SUPER,3,206,254,0,0,0
$IRIDIUM_FIX,4751.72,-12340.51,120998,010149
$HUMID,1078571850
$INTERNAL_PRESSURE,7.88766
$TCM_TEMP,13.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,90.5,29.0
$24V_AH,24.3,1.518
$10V_AH,10.6,0.572
$FG_AHR_24Vo,4.029
$FG_AHR_10Vo,5.177
$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,19.225,29.700,173.325,334.750,0.000,23.671,40.346,202.242,1.250,0.000,32.645,453.387,377.079,553.564,764.665,419.108,33.327,727.617,0.000,739.728,0.000,10.183,0.000
$DEVICE_MAMPS,222.821,55.926,777.690,698.386,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,180.272,555.127,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324324
$DATA_FILE_SIZE,12855,311
$CAP_FILE_SIZE,42509,0
$CFSIZE,260034560,257118208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180609,022720,4807.926,-12222.961,12,1.6,12,18.3