version: 66.06
glider: 161
mission: 1
dive: 15
start: 2 2 110 9 29 53
data:
$ID,161
$MISSION,1
$DIVE,15
$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,-5
$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,600
$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,-25577.609
$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,42
$R_STBD_OVSHOOT,36
$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,7
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$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
$GPS1,092302,4807.301,-12223.150,12,1.7,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-73.6
$GPS2,092914,4807.274,-12223.169,11,1.2,11,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.088,0.179
$KALMAN_X,-2230.9,355.9,124.1,1719.8,207.3
$KALMAN_Y,193.7,-350.2,-165.4,291.8,-548.1
$MHEAD_RNG_PITCHd_Wd,315.5,1692,-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,-107.1,0.0,0.0,0,64,0.00,0.00,-49.05,0.000,2,0.000,0.000,148,2002,2208,0,0,0,0,0,0
$GC,67,-0.74,-107.1,3.2,-4.9,8,132,11.30,2.47,-45.85,0.000,4,0.241,0.076,2989,3525,3882,0,0,0,0,0,0
$GC,366,-0.74,-107.1,28.6,-8.8,75,373,0.00,2.35,0.00,0.000,6,0.000,0.040,2989,1991,3882,0,0,0,0,0,0
$GC,436,-0.74,-107.1,34.9,-8.9,91,443,0.00,2.47,0.00,0.000,4,0.000,0.060,2979,3526,3882,0,0,0,0,0,0
$GC,510,-0.74,-107.1,41.9,-10.0,108,517,0.00,2.35,0.00,0.000,6,0.000,0.040,2979,1992,3882,0,0,0,0,0,0
$GC,642,-0.74,-107.1,54.0,-9.0,139,649,0.00,2.47,0.00,0.000,4,0.000,0.061,2968,3531,3882,0,0,0,0,0,0
$GC,687,-0.74,-107.1,58.6,-9.9,149,695,0.10,2.35,0.00,0.000,6,0.137,0.039,3001,1986,3882,0,0,0,0,0,0
$GC,819,-0.74,-107.1,69.3,-7.7,180,826,0.00,2.47,0.00,0.000,4,0.000,0.061,2992,3529,3882,0,0,0,0,0,0
$GC,853,-0.74,-107.1,72.1,-7.8,187,860,0.00,2.33,0.00,0.000,6,0.000,0.040,2992,1994,3882,0,0,0,0,0,0
$GC,987,-0.74,-107.1,82.4,-7.5,218,994,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,1994,3882,0,0,0,0,0,0
$GC,1123,-0.74,-107.1,92.8,-7.9,249,1130,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,1994,3882,0,0,0,0,0,0
$GC,1257,-0.74,-107.1,102.6,-7.0,280,1264,0.00,2.45,0.00,0.000,4,0.000,0.061,2982,3531,3882,0,0,0,0,0,0
$GC,1323,-0.74,-107.1,107.7,-7.9,295,1330,0.00,2.35,0.00,0.000,6,0.000,0.040,2982,1979,3882,0,0,0,0,0,0
$STATE,1406,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1406,begin apogee
$GC,1412,-0.21,0.0,113.9,7.3,315,1496,0.57,0.00,78.22,0.775,6,0.124,0.000,3175,1976,3441,0,0,0,0,0,0
$STATE,1497,end apogee,CONTROL_FINISHED_OK
$STATE,1497,begin climb
$GC,1499,0.74,107.1,115.3,0.0,328,1581,0.85,0.00,79.20,0.753,6,0.067,0.000,3487,1976,3005,0,0,0,0,0,0
$GC,1707,0.74,107.1,94.6,12.0,371,1713,0.00,2.55,0.00,0.000,4,0.000,0.058,3487,3533,3002,0,0,0,0,0,0
$GC,1737,0.74,107.1,90.8,12.4,377,1743,0.00,2.40,0.00,0.000,6,0.000,0.040,3498,2005,3002,0,0,0,0,0,0
$GC,1868,0.74,107.1,74.8,11.8,408,1875,0.00,2.47,0.00,0.000,4,0.000,0.057,3510,445,3002,0,0,0,0,0,0
$GC,1919,0.74,107.1,68.5,12.6,419,1925,0.00,2.38,0.00,0.000,6,0.000,0.041,3510,1981,3002,0,0,0,0,0,0
$GC,2050,0.74,107.1,52.8,11.7,450,2057,0.00,2.47,0.00,0.000,4,0.000,0.057,3510,3536,3002,0,0,0,0,0,0
$GC,2088,0.74,107.1,47.9,12.8,458,2094,0.10,2.38,0.00,0.000,6,0.168,0.038,3490,1990,3002,0,0,0,0,0,0
$GC,2218,0.74,107.1,33.7,10.9,489,2225,0.00,2.42,0.00,0.000,4,0.000,0.054,3500,449,3002,0,0,0,0,0,0
$GC,2240,0.74,107.1,31.3,10.6,493,2247,0.00,2.35,0.00,0.000,6,0.000,0.041,3500,1983,3002,0,0,0,0,0,0
$GC,2310,0.74,107.1,24.0,10.4,509,2317,0.00,2.45,0.00,0.000,4,0.000,0.056,3500,3536,3002,0,0,0,0,0,0
$GC,2351,0.74,107.1,19.0,11.8,518,2359,0.00,2.35,0.00,0.000,6,0.000,0.038,3511,1994,3002,0,0,0,0,0,0
$GC,2421,0.74,107.1,10.9,10.8,534,2428,0.00,2.42,0.00,0.000,4,0.000,0.054,3511,3530,3002,0,0,0,0,0,0
$GC,2662,0.95,275.9,8.1,-0.5,592,2682,0.00,2.33,16.75,0.647,2,0.000,0.038,3522,1990,2917,0,0,0,0,0,0
$STATE,2683,end climb,NO_VERTICAL_VELOCITY
$STATE,2683,begin surface
$SM_CCo,2686,447.70,0.680,0,0,500,721.67
$SM_GC,1.20,9.23,0.00,0.00,0.038,0.000,0.000,142,1988,495,-9.63,-0.03,722.90
$IRIDIUM_FIX,4751.72,-12340.51,290499,080854
$TT8_MAMPS,0.050622
$HUMID,28.61
$INTERNAL_PRESSURE,8.90344
$TCM_TEMP,15.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.0,25.7
$24V_AH,24.0,2.182
$10V_AH,10.5,1.765
$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,22.150,53.050,174.175,447.700,0.000,23.749,26.681,201.745,2.000,0.000,12.924,0.000,254.984,646.325,2247.749,454.735,33.322,1251.484,0.000,2060.062,0.000,18.380,0.000
$DEVICE_MAMPS,240.838,75.933,775.437,679.562,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,401.979,1965.059,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324548
$DATA_FILE_SIZE,28527,595
$CAP_FILE_SIZE,65246,0
$CFSIZE,260165632,256532480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020210,102446,4807.487,-12223.324,10,2.7,29,18.3