version: 66.06
glider: 179
mission: 1
dive: 15
start: 2 2 110 8 34 19
data:
$ID,179
$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,-4
$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,1.023
$MASS,52000
$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,4736
$TGT_DEFAULT_LON,-12218
$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,-7169.8057
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,147
$PITCH_MAX,3923
$C_PITCH,2865
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,165
$ROLL_MAX,3681
$ROLL_DEG,45
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,3453
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$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,-38.539211
$PRESSURE_SLOPE,0.0001164844
$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,2
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.69999999
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$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,0.0043333764
$SEABIRD_T_H,0.0006255582
$SEABIRD_T_I,2.4443518e-05
$SEABIRD_T_J,2.7040428e-06
$SEABIRD_C_G,-10.032231
$SEABIRD_C_H,1.1531334
$SEABIRD_C_I,-0.0012400629
$SEABIRD_C_J,0.00018751388
$GPS1,082744,4806.456,-12222.561,9,1.2,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-74.1
$GPS2,083325,4806.451,-12222.589,17,1.5,34,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.089,0.179
$KALMAN_X,-753.2,-45.8,-1.3,1511.4,73.2
$KALMAN_Y,-46.5,150.1,47.8,-1830.0,-216.4
$MHEAD_RNG_PITCHd_Wd,315.1,3357,-14.6,-6.944
$D_GRID,105
$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,-0.69,-107.5,0.0,0.0,0,117,0.00,0.00,-99.53,0.000,2,0.000,0.000,147,2148,2928,0,0,0,0,0,0
$GC,120,-0.69,-107.5,3.1,-3.5,24,160,12.52,2.47,-19.02,0.000,4,0.301,0.064,2622,3672,3895,0,0,0,0,0,0
$GC,423,-0.69,-107.5,34.6,-6.2,90,429,0.00,2.33,0.00,0.000,6,0.000,0.035,2622,2138,3896,0,0,0,0,0,0
$GC,499,-0.69,-107.5,41.2,-10.1,106,504,0.00,2.42,0.00,0.000,4,0.000,0.052,2610,3679,3895,0,0,0,0,0,0
$GC,630,-0.69,-107.5,52.2,-8.6,134,636,0.12,2.30,0.00,0.000,6,0.189,0.035,2640,2150,3895,0,0,0,0,0,0
$GC,775,-0.69,-107.5,62.2,-7.2,165,780,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2150,3895,0,0,0,0,0,0
$GC,921,-0.69,-107.5,72.0,-6.7,196,926,0.00,2.42,0.00,0.000,4,0.000,0.054,2629,3679,3895,0,0,0,0,0,0
$GC,954,-0.69,-107.5,74.5,-6.9,203,960,0.00,2.30,0.00,0.000,6,0.000,0.035,2629,2140,3895,0,0,0,0,0,0
$STATE,1060,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1060,begin apogee
$GC,1063,-0.19,0.0,82.1,7.0,225,1150,0.55,0.00,81.03,0.568,6,0.153,0.000,2798,2138,3452,0,0,0,0,0,0
$STATE,1150,end apogee,CONTROL_FINISHED_OK
$STATE,1150,begin climb
$GC,1152,0.69,107.5,83.7,0.0,245,1242,0.85,2.58,82.32,0.546,4,0.100,0.051,3080,3670,3013,0,0,0,0,0,0
$GC,1261,0.69,107.5,75.5,10.3,270,1267,0.00,2.42,0.00,0.000,6,0.000,0.035,3092,2153,3013,0,0,0,0,0,0
$GC,1405,0.69,107.5,58.8,11.7,301,1410,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2151,3013,0,0,0,0,0,0
$GC,1550,0.69,107.5,43.1,10.6,332,1555,0.00,2.45,0.00,0.000,4,0.000,0.051,3092,3680,3013,0,0,0,0,0,0
$GC,1593,0.69,107.5,37.8,12.3,341,1598,0.00,2.38,0.00,0.000,6,0.000,0.035,3104,2140,3012,0,0,0,0,0,0
$GC,1669,0.69,107.5,29.6,10.8,357,1674,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2140,3013,0,0,0,0,0,0
$GC,1745,0.69,107.5,20.4,13.0,373,1750,0.00,2.42,0.00,0.000,4,0.000,0.046,3116,564,3013,0,0,0,0,0,0
$GC,1848,0.69,107.5,9.8,8.8,395,1853,0.00,2.45,0.00,0.000,6,0.000,0.039,3116,2156,3013,0,0,0,0,0,0
$GC,1923,0.98,338.3,8.0,-3.2,411,2106,0.17,2.50,174.32,0.505,4,0.102,0.048,3179,3668,2072,0,0,0,0,0,0
$STATE,2310,end climb,NO_VERTICAL_VELOCITY
$STATE,2310,begin surface
$SM_CCo,2312,264.77,0.489,0,0,460,734.18
$SM_GC,1.04,9.10,0.00,0.00,0.080,0.000,0.000,152,2142,456,-8.45,-0.23,735.41
$IRIDIUM_FIX,4748.51,-12220.12,290499,070704
$TT8_MAMPS,0.026845
$HUMID,32.12
$INTERNAL_PRESSURE,9.16366
$TCM_TEMP,19.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,82.1,8.7
$24V_AH,24.3,1.689
$10V_AH,10.5,0.648
$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,23.325,33.925,337.675,264.775,0.000,27.380,24.796,190.251,1.250,0.000,34.648,663.202,691.395,630.412,755.145,298.453,33.330,1091.364,0.000,722.648,0.000,10.293,0.000
$DEVICE_MAMPS,301.431,63.661,568.347,489.346,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,328.626,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324572
$DATA_FILE_SIZE,15880,498
$CAP_FILE_SIZE,54801,0
$CFSIZE,260165632,256675840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020210,092006,4806.522,-12222.588,14,1.0,30,18.3