version: 66.07
glider: 179
mission: 2
dive: 6
start: 5 4 110 21 24 53
data:
$ID,179
$MISSION,2
$DIVE,6
$D_SURF,7
$D_FLARE,3
$D_TGT,120
$D_ABORT,1090
$D_NO_BLEED,50
$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,45
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51304
$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,575
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-8148.2549
$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,3135
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$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,36
$R_STBD_OVSHOOT,29
$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,-38.987793
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$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
$LOGGERDEVICE1,69
$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,0.0043333764
$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
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_SCALEFACTOR24V,1.3
$GPS1,040510,212044,4808.108,-12223.735,12,1.8,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-76.0
$GPS2,040510,212356,4808.131,-12223.760,13,1.8,13,18.3
$SPEED_LIMITS,0.154,0.226
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.085,-0.209
$KALMAN_X,-580.4,-321.6,-224.5,673.7,-90.4
$KALMAN_Y,1348.5,739.0,498.1,-1449.4,246.1
$MHEAD_RNG_PITCHd_Wd,139.5,2296,-17.7,-8.889
$D_GRID,103
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.73,-117.3,0.0,0.0,0,85,0.00,0.00,-68.07,0.000,2,0.000,0.000,148,2140,2829,0,0,0,0,0,0
$GC,87,-0.73,-117.3,3.6,-6.8,12,134,15.90,0.00,-26.30,0.000,6,0.332,0.000,2887,2139,3933,0,0,0,0,0,0
$GC,207,-0.73,-117.3,23.3,-21.5,32,211,0.00,2.53,0.00,0.000,4,0.000,0.066,2877,3673,3934,0,0,0,0,0,0
$GC,249,-0.73,-117.3,32.2,-19.5,35,257,0.00,2.40,0.00,0.000,6,0.000,0.041,2877,2147,3934,0,0,0,0,0,0
$GC,447,-0.73,-117.3,68.3,-18.2,54,449,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2145,3935,0,0,0,0,0,0
$STATE,659,end dive,TARGET_DEPTH_EXCEEDED
$STATE,659,begin apogee
$GC,663,-0.17,0.0,104.2,16.9,74,755,0.70,0.00,88.90,0.575,6,0.176,0.000,3076,2146,3452,0,0,0,0,0,0
$STATE,756,end apogee,CONTROL_FINISHED_OK
$STATE,756,begin climb
$GC,757,0.73,117.3,108.6,0.0,83,856,0.90,2.58,89.60,0.558,4,0.107,0.044,3379,568,2973,0,0,0,0,0,0
$GC,1025,0.76,133.7,96.8,8.0,107,1048,0.00,2.55,13.70,0.526,6,0.000,0.049,3379,2161,2906,0,0,0,0,0,0
$GC,1365,0.76,133.7,65.7,9.1,139,1369,0.00,2.42,0.00,0.000,4,0.000,0.060,3379,3684,2905,0,0,0,0,0,0
$GC,1531,0.76,133.7,50.0,10.0,153,1539,0.00,2.40,0.00,0.000,6,0.000,0.038,3389,2143,2905,0,0,0,0,0,0
$GC,1857,0.83,191.4,24.5,5.9,184,1911,0.00,2.55,44.33,0.527,4,0.000,0.045,3401,557,2672,0,0,0,0,0,0
$GC,1927,0.87,230.5,19.9,6.9,190,1964,0.00,2.55,31.42,0.513,6,0.000,0.047,3401,2147,2512,0,0,0,0,0,0
$GC,2032,0.87,230.5,12.2,9.6,208,2038,0.00,2.50,0.00,0.000,4,0.000,0.061,3401,3687,2509,0,0,0,0,0,0
$STATE,2099,end climb,SURFACE_DEPTH_REACHED
$STATE,2099,begin surface coast
$FINISH,6.6,1.020072
$STATE,2228,end surface coast,CONTROL_FINISHED_OK
$STATE,2229,begin surface
$SM_CCo,2248,207.20,0.503,0,0,1108,575.23
$SM_GC,1.63,0.00,0.00,207.20,0.000,0.000,0.503,147,2150,1108,-9.34,0.00,575.23
$IRIDIUM_FIX,4748.51,-12221.84,281011,151540
$TT8_MAMPS,0.026215
$HUMID,1078107732
$INTERNAL_PRESSURE,9.33945
$TCM_TEMP,19.40
$XPDR_PINGS,2
$24V_AH,24.4,3.645
$10V_AH,10.4,1.372
$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,27.775,24.900,267.950,207.200,0.000,27.991,24.699,75.503,2.000,0.000,15.024,540.777,966.592,548.957,577.496,36.542,33.338,832.215,0.000,439.150,0.000,11.524,0.000
$DEVICE_MAMPS,332.010,65.790,575.280,502.605,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,161.410,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323884
$DATA_FILE_SIZE,6809,243
$CAP_FILE_SIZE,37246,0
$CFSIZE,260165632,257011712
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040510,220651,4808.017,-12223.718,9,2.2,28,18.3