version: 66.06
glider: 161
mission: 1
dive: 8
start: 2 2 110 1 55 1
data:
$ID,161
$MISSION,1
$DIVE,8
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,4
$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,72
$T_MISSION,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,110
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51740
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,28
$TGT_DEFAULT_LON,126
$TGT_AUTO_DEFAULT,0
$SM_CC,570
$N_FILEKB,8
$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,-25433.508
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,151
$PITCH_MAX,3948
$C_PITCH,3245
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,192
$ROLL_MAX,3769
$ROLL_DEG,44
$C_ROLL_DIVE,1990
$C_ROLL_CLIMB,1990
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3961
$C_VBD,3442
$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,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$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,-20.086386
$PRESSURE_SLOPE,0.0001162844
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,35
$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,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043783197
$SEABIRD_T_H,0.00063994242
$SEABIRD_T_I,2.6557553e-05
$SEABIRD_T_J,3.0025926e-06
$SEABIRD_C_G,-9.9079208
$SEABIRD_C_H,1.1131756
$SEABIRD_C_I,-0.00045004685
$SEABIRD_C_J,0.00012324764
$GPS1,014336,4806.202,-12222.145,10,1.7,26,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-76.8
$GPS2,015422,4806.226,-12222.212,8,2.3,27,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.135,-0.147
$KALMAN_X,-1901.3,-237.7,41.9,3252.7,-433.6
$KALMAN_Y,1440.4,137.8,-48.7,-3507.0,393.8
$MHEAD_RNG_PITCHd_Wd,119.0,494,-14.6,-6.944
$D_GRID,150
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,13,-0.74,-107.1,0.0,0.0,0,78,0.00,0.00,-63.55,0.000,2,0.000,0.000,141,1994,2662,0,0,0,0,0,0
$GC,81,-0.74,-107.1,3.0,-3.4,10,133,11.18,0.00,-34.22,0.000,6,0.239,0.000,2997,1994,3881,0,0,0,0,0,0
$GC,198,-0.74,-107.1,11.1,-7.6,33,205,0.00,2.45,0.00,0.000,4,0.000,0.058,2997,451,3881,0,0,0,0,0,0
$GC,216,-0.74,-107.1,12.7,-7.8,36,222,0.00,2.38,0.00,0.000,6,0.000,0.047,2989,1980,3881,0,0,0,0,0,0
$GC,285,-0.74,-107.1,18.5,-8.2,52,292,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,1980,3881,0,0,0,0,0,0
$GC,355,-0.74,-107.1,24.5,-8.4,68,362,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,1981,3881,0,0,0,0,0,0
$GC,424,-0.74,-107.1,30.7,-8.7,84,431,0.00,2.50,0.00,0.000,4,0.000,0.064,2977,3534,3881,0,0,0,0,0,0
$GC,454,-0.74,-107.1,33.6,-9.7,90,461,0.00,2.38,0.00,0.000,6,0.000,0.042,2977,1992,3881,0,0,0,0,0,0
$GC,524,-0.74,-107.1,40.2,-9.5,106,530,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,1992,3881,0,0,0,0,0,0
$GC,654,-0.74,-107.1,52.9,-9.9,137,661,0.00,2.47,0.00,0.000,4,0.000,0.062,2967,3532,3881,0,0,0,0,0,0
$GC,711,-0.74,-107.1,58.6,-10.0,150,718,0.10,2.35,0.00,0.000,6,0.140,0.041,3000,1989,3881,0,0,0,0,0,0
$GC,843,-0.74,-107.1,69.6,-8.0,181,850,0.00,2.47,0.00,0.000,4,0.000,0.064,2992,3529,3881,0,0,0,0,0,0
$GC,905,-0.74,-107.1,74.9,-8.9,195,912,0.00,2.35,0.00,0.000,6,0.000,0.041,2992,1987,3881,0,0,0,0,0,0
$GC,1039,-0.74,-107.1,85.9,-8.0,226,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,1987,3880,0,0,0,0,0,0
$GC,1173,-0.74,-107.1,96.4,-8.0,257,1179,0.00,2.45,0.00,0.000,4,0.000,0.062,2982,3537,3881,0,0,0,0,0,0
$GC,1214,-0.74,-107.1,100.0,-8.5,266,1224,0.00,2.35,0.00,0.000,6,0.000,0.041,2982,1991,3881,0,0,0,0,0,0
$GC,1350,-0.74,-107.1,110.9,-8.1,297,1357,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,1991,3881,0,0,0,0,0,0
$STATE,1406,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1406,begin apogee
$GC,1411,-0.29,0.0,115.2,7.2,310,1495,0.47,0.00,77.70,0.772,6,0.126,0.000,3142,1988,3441,0,0,0,0,0,0
$STATE,1495,end apogee,CONTROL_FINISHED_OK
$STATE,1496,begin climb
$GC,1498,0.74,107.1,117.3,0.0,323,1586,0.95,2.58,79.82,0.755,4,0.077,0.058,3491,449,3004,0,0,0,0,0,0
$GC,1615,0.74,107.1,107.8,11.0,343,1621,0.00,2.47,0.00,0.000,6,0.000,0.044,3491,1993,3003,0,0,0,0,0,0
$GC,1746,0.74,107.1,92.1,11.5,374,1753,0.00,0.00,0.00,0.000,6,0.000,0.000,3491,1993,3002,0,0,0,0,0,0
$GC,1878,0.74,107.1,77.7,11.2,405,1884,0.00,2.47,0.00,0.000,4,0.000,0.059,3491,3532,3001,0,0,0,0,0,0
$GC,1908,0.74,107.1,73.9,12.1,411,1914,0.00,2.40,0.00,0.000,6,0.000,0.041,3502,1984,3001,0,0,0,0,0,0
$GC,2039,0.74,107.1,58.5,11.8,442,2046,0.00,2.50,0.00,0.000,4,0.000,0.058,3502,3542,3001,0,0,0,0,0,0
$GC,2089,0.74,107.1,52.3,12.7,453,2096,0.08,2.40,0.00,0.000,6,0.175,0.041,3491,1984,3001,0,0,0,0,0,0
$GC,2220,0.74,107.1,38.4,10.5,484,2227,0.00,2.47,0.00,0.000,4,0.000,0.057,3491,3539,3001,0,0,0,0,0,0
$GC,2246,0.74,107.1,35.6,10.6,489,2253,0.00,2.38,0.00,0.000,6,0.000,0.041,3500,1991,3001,0,0,0,0,0,0
$GC,2316,0.74,107.1,28.4,10.4,505,2322,0.00,0.00,0.00,0.000,6,0.000,0.000,3500,1991,3001,0,0,0,0,0,0
$GC,2386,0.74,107.1,21.4,10.2,521,2392,0.00,2.40,0.00,0.000,4,0.000,0.058,3512,452,3001,0,0,0,0,0,0
$GC,2467,0.74,107.1,13.0,9.9,540,2474,0.00,2.35,0.00,0.000,6,0.000,0.044,3512,1989,3001,0,0,0,0,0,0
$GC,2537,0.74,107.1,7.2,7.2,556,2544,0.00,2.40,0.00,0.000,4,0.000,0.058,3523,453,3001,0,0,0,0,0,0
$GC,2777,0.93,261.8,6.0,0.2,614,2804,0.00,2.33,23.00,0.654,2,0.000,0.042,3522,1982,2878,0,0,0,0,0,0
$STATE,2805,end climb,NO_VERTICAL_VELOCITY
$STATE,2805,begin surface
$SM_CCo,2807,440.85,0.676,0,0,500,721.67
$SM_GC,1.13,9.15,0.00,0.00,0.035,0.000,0.000,147,1983,496,-9.62,-0.20,722.65
$IRIDIUM_FIX,4751.72,-12340.51,290499,010126
$TT8_MAMPS,0.049088
$HUMID,29.05
$INTERNAL_PRESSURE,8.90344
$TCM_TEMP,15.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,110.1,15.0
$24V_AH,24.1,1.274
$10V_AH,10.5,1.017
$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,21.925,53.300,180.525,440.850,0.000,52.416,66.208,302.716,2.000,0.000,32.007,0.000,315.649,657.731,2360.345,654.944,33.323,1306.401,0.000,2143.286,0.000,18.577,0.000
$DEVICE_MAMPS,238.537,63.661,772.369,675.727,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,417.027,2042.435,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324500
$DATA_FILE_SIZE,28638,618
$CAP_FILE_SIZE,73202,0
$CFSIZE,260165632,256802816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020210,025152,4806.042,-12222.049,12,3.9,31,18.3