version: 66.06
glider: 179
mission: 1
dive: 16
start: 2 2 110 9 25 57
data:
$ID,179
$MISSION,1
$DIVE,16
$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,-7185.0718
$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,40
$R_STBD_OVSHOOT,36
$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
$GPS1,092006,4806.522,-12222.588,14,1.0,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-74.0
$GPS2,092502,4806.496,-12222.603,14,1.6,14,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.085,0.181
$KALMAN_X,-570.8,-17.6,28.5,1251.2,121.6
$KALMAN_Y,-407.5,137.9,-22.3,-1303.6,-325.5
$MHEAD_RNG_PITCHd_Wd,316.4,3278,-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,-107.5,0.0,0.0,0,113,0.00,0.00,-95.32,0.000,2,0.000,0.000,152,2142,2819,0,0,0,0,0,0
$GC,116,-0.69,-107.5,3.0,-3.4,23,160,12.82,2.50,-23.92,0.000,4,0.308,0.065,2622,3672,3894,0,0,0,0,0,0
$GC,324,-0.69,-107.5,21.2,-6.3,68,330,0.00,2.35,0.00,0.000,6,0.000,0.035,2622,2131,3895,0,0,0,0,0,0
$GC,400,-0.69,-107.5,26.6,-7.1,84,405,0.00,2.40,0.00,0.000,4,0.000,0.045,2622,578,3895,0,0,0,0,0,0
$GC,442,-0.69,-107.5,30.0,-8.0,93,448,0.12,2.42,0.00,0.000,6,0.199,0.038,2638,2154,3895,0,0,0,0,0,0
$GC,518,-0.69,-107.5,35.2,-7.1,109,524,0.00,2.45,0.00,0.000,4,0.000,0.044,2638,568,3895,0,0,0,0,0,0
$GC,542,-0.69,-107.5,37.0,-7.2,114,548,0.00,2.42,0.00,0.000,6,0.000,0.038,2628,2151,3895,0,0,0,0,0,0
$GC,618,-0.69,-107.5,42.8,-7.6,130,622,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2151,3895,0,0,0,0,0,0
$GC,761,-0.69,-107.5,53.9,-7.2,161,767,0.00,2.40,0.00,0.000,4,0.000,0.053,2617,3673,3895,0,0,0,0,0,0
$GC,804,-0.69,-107.5,57.3,-8.0,170,809,0.00,2.30,0.00,0.000,6,0.000,0.035,2617,2147,3895,0,0,0,0,0,0
$GC,948,-0.69,-107.5,68.5,-7.4,201,953,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2146,3895,0,0,0,0,0,0
$GC,1093,-0.69,-107.5,79.7,-7.8,232,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2146,3895,0,0,0,0,0,0
$STATE,1129,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1129,begin apogee
$GC,1133,-0.19,0.0,82.3,7.7,239,1219,0.57,0.00,81.03,0.567,6,0.159,0.000,2791,2146,3453,0,0,0,0,0,0
$STATE,1220,end apogee,CONTROL_FINISHED_OK
$STATE,1220,begin climb
$GC,1221,0.69,107.5,84.8,0.0,259,1311,0.88,0.00,82.38,0.546,6,0.104,0.000,3080,2145,3014,0,0,0,0,0,0
$GC,1451,0.69,107.5,65.0,10.6,310,1455,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2146,3014,0,0,0,0,0,0
$GC,1595,0.69,107.5,50.0,10.2,341,1600,0.00,2.45,0.00,0.000,4,0.000,0.051,3080,3673,3014,0,0,0,0,0,0
$GC,1651,0.69,107.5,43.4,11.7,353,1657,0.00,2.35,0.00,0.000,6,0.000,0.035,3092,2147,3014,0,0,0,0,0,0
$GC,1794,0.69,107.5,28.5,10.1,384,1800,0.00,2.45,0.00,0.000,4,0.000,0.046,3104,570,3014,0,0,0,0,0,0
$GC,1852,0.69,107.5,22.5,10.4,396,1858,0.00,2.45,0.00,0.000,6,0.000,0.039,3104,2154,3014,0,0,0,0,0,0
$GC,1928,0.69,107.5,14.3,11.0,412,1932,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2154,3014,0,0,0,0,0,0
$GC,2002,0.69,107.5,7.9,7.4,428,2007,0.00,2.42,0.00,0.000,4,0.000,0.045,3116,575,3014,0,0,0,0,0,0
$GC,2202,0.85,235.8,8.8,1.3,471,2305,0.00,2.42,96.43,0.515,6,0.000,0.038,3116,2159,2491,0,0,0,0,0,0
$GC,2375,1.01,368.1,6.1,1.2,510,2487,0.22,2.62,102.00,0.500,4,0.087,0.046,3206,570,1951,0,0,0,0,0,0
$STATE,2537,end climb,SURFACE_DEPTH_REACHED
$STATE,2537,begin surface coast
$FINISH,2.9,1.016736
$STATE,2634,end surface coast,CONTROL_FINISHED_OK
$STATE,2634,begin surface
$SM_CCo,2652,156.43,0.472,1,0,1007,600.00
$SM_GC,1.27,0.00,0.00,156.43,0.000,0.000,0.472,152,2160,1007,-8.48,0.31,600.00
$IRIDIUM_FIX,4751.72,-12221.84,290499,080841
$TT8_MAMPS,0.026845
$HUMID,31.96
$INTERNAL_PRESSURE,9.22226
$TCM_TEMP,19.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,82.3,8.6
$24V_AH,24.4,1.777
$10V_AH,9.6,0.679
$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,24.075,38.950,361.825,156.425,0.000,22.586,34.154,162.322,1.000,0.000,14.640,762.575,693.232,556.035,834.147,281.556,33.341,1076.420,0.000,821.726,0.000,6.986,0.000
$DEVICE_MAMPS,308.334,65.195,566.813,472.472,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,375.755,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324576
$DATA_FILE_SIZE,19051,568
$CAP_FILE_SIZE,61009,0
$CFSIZE,260165632,256634880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020210,101338,4806.632,-12222.670,14,1.9,14,18.3