version: 66.07
glider: 165
mission: 3
dive: 16
start: 5 27 110 9 6 41
data:
$ID,165
$MISSION,3
$DIVE,16
$D_SURF,4
$D_FLARE,5
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,100
$D_BOOST,0
$T_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,66
$T_MISSION,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,22
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,52067
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$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,600
$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,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-136374.2
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2956
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,39
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3692
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2080
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.025
$VBD_MIN,485
$VBD_MAX,3959
$C_VBD,3329
$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,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-20.366472
$PRESSURE_SLOPE,0.000116182
$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,0
$ALTIM_PING_DEPTH,75
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.85000002
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-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,0.0043368833
$SEABIRD_T_H,0.00062128826
$SEABIRD_T_I,2.0815467e-05
$SEABIRD_T_J,1.8636994e-06
$SEABIRD_C_G,-9.9289675
$SEABIRD_C_H,1.1053493
$SEABIRD_C_I,-0.00075226114
$SEABIRD_C_J,0.00014976546
$GPS1,270510,085826,4806.785,-12222.387,10,1.2,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-78.7
$GPS2,270510,090544,4806.832,-12222.432,12,1.2,12,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.038,-0.194
$KALMAN_X,280.2,-208.3,193.6,196.7,185.4
$KALMAN_Y,8217.3,348.0,-399.4,-8358.4,329.7
$MHEAD_RNG_PITCHd_Wd,144.4,1631,-17.8,-7.576
$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,13,begin dive
$GC,15,-0.57,-97.3,0.0,0.0,0,101,0.00,0.00,-83.05,0.000,2,0.000,0.000,172,2166,3047,0,0,0,0,0,0
$GC,104,-0.57,-97.3,5.7,-7.0,12,136,10.73,2.35,-13.68,0.000,4,0.262,0.067,2763,735,3728,0,0,0,0,0,0
$GC,403,-0.57,-97.3,43.3,-14.0,68,411,0.00,2.28,0.00,0.000,6,0.000,0.054,2756,2128,3730,0,0,0,0,0,0
$GC,557,-0.57,-97.3,64.3,-14.3,99,565,0.00,2.30,0.00,0.000,4,0.000,0.068,2746,3560,3730,0,0,0,0,0,0
$GC,593,-0.57,-97.3,69.9,-14.3,105,600,0.00,2.22,0.00,0.000,6,0.000,0.047,2746,2154,3730,0,0,0,0,0,0
$GC,757,-0.57,-97.3,94.6,-14.8,136,770,0.00,2.25,0.00,0.000,4,0.000,0.054,2746,739,3730,0,0,0,0,0,0
$GC,777,-0.57,-97.3,97.6,-14.8,138,785,0.00,2.30,0.00,0.000,6,0.000,0.054,2740,2151,3730,0,0,0,0,0,0
$STATE,843,end dive,TARGET_DEPTH_EXCEEDED
$STATE,843,begin apogee
$GC,850,-0.13,0.0,108.0,15.1,150,927,0.55,0.00,73.75,0.658,6,0.177,0.000,2903,2064,3328,0,0,0,0,0,0
$STATE,928,end apogee,CONTROL_FINISHED_OK
$STATE,928,begin loiter
$STATE,950,end loiter,LOITER_COMPLETE
$STATE,950,begin climb
$GC,952,0.57,97.3,113.1,0.0,165,1033,0.68,0.00,74.03,0.640,6,0.107,0.000,3134,2064,2931,0,0,0,0,0,0
$GC,1179,0.57,97.3,96.1,9.7,207,1186,0.00,2.38,0.00,0.000,4,0.000,0.064,3134,3497,2930,0,0,0,0,0,0
$GC,1242,0.57,97.3,89.1,11.4,219,1250,0.00,2.28,0.00,0.000,6,0.000,0.048,3143,2093,2930,0,0,0,0,0,0
$GC,1395,0.57,97.3,73.7,9.7,250,1403,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2093,2930,0,0,0,0,0,0
$GC,1550,0.57,97.3,59.5,9.3,281,1557,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2093,2930,0,0,0,0,0,0
$GC,1703,0.57,97.3,45.0,9.6,312,1711,0.00,2.30,0.00,0.000,4,0.000,0.062,3143,3490,2930,0,0,0,0,0,0
$GC,1870,0.57,97.3,28.0,9.7,344,1878,0.00,2.28,0.00,0.000,6,0.000,0.049,3152,2080,2929,0,0,0,0,0,0
$GC,1958,0.59,111.1,20.9,6.9,360,1974,0.00,2.33,11.30,0.588,4,0.000,0.057,3163,655,2875,0,0,0,0,0,0
$GC,2023,0.60,114.3,16.2,7.4,371,2034,0.00,2.30,4.15,0.438,6,0.000,0.050,3163,2077,2863,0,0,0,0,0,0
$GC,2115,0.62,131.3,9.9,6.7,387,2138,0.00,2.35,14.38,0.589,4,0.000,0.064,3163,3493,2793,0,0,0,0,0,0
$GC,2274,0.78,266.1,7.3,0.5,415,2385,0.00,2.20,103.65,0.596,6,0.000,0.048,3174,2118,2242,0,0,0,0,0,0
$GC,2468,0.98,427.3,5.2,-0.9,445,2544,0.25,0.00,72.72,0.578,2,0.071,0.000,3286,2118,1867,0,0,0,0,0,0
$STATE,2545,end climb,SURFACE_DEPTH_REACHED
$STATE,2545,begin surface coast
$FINISH,2.2,1.006801
$STATE,2814,end surface coast,CONTROL_FINISHED_OK
$STATE,2814,begin surface
$SM_CCo,2831,152.95,0.568,0,0,882,600.00
$SM_GC,1.77,0.00,0.00,152.95,0.000,0.000,0.568,176,2118,882,-8.69,-0.90,600.00
$IRIDIUM_FIX,4751.72,-12220.85,201111,020219
$TT8_MAMPS,0.023968
$HUMID,1078198055
$INTERNAL_PRESSURE,9.14133
$TCM_TEMP,18.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,105.2,18.5
$24V_AH,24.5,1.756
$10V_AH,10.4,2.305
$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,20.975,32.225,353.975,152.950,0.000,29.970,25.240,237.506,3.250,0.000,15.137,1155.863,49.110,527.484,1501.818,198.406,33.326,1037.604,0.000,1216.796,0.000,28.876,0.000
$DEVICE_MAMPS,262.395,79.560,657.900,568.395,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,328.734,383.264,954.473,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323968
$DATA_FILE_SIZE,30306,505
$CAP_FILE_SIZE,58890,0
$CFSIZE,260165632,202477568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.103,343.4,1
$GPS,270510,095736,4806.828,-12222.375,14,1.0,30,18.3