version: 66.07
glider: 179
mission: 2
dive: 6
start: 9 30 110 20 13 17
data:
$ID,179
$MISSION,2
$DIVE,6
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,4
$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,62
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51749
$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,24.688
$TGT_DEFAULT_LON,-77.613998
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$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,-13066.8
$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,2934
$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,2050
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2312
$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,-38.225636
$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,120
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,8
$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,40960.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_SCALEFACTOR24V,1.3
$GPS1,300910,200655,4743.084,-12225.226,21,1.5,38,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-75.5
$GPS2,300910,201220,4743.080,-12225.262,13,1.6,13,18.2
$SPEED_LIMITS,0.140,0.241
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.146,0.191
$KALMAN_X,-712.7,-342.7,-106.0,962.5,-231.2
$KALMAN_Y,-895.2,-1089.0,-588.8,3142.5,36.9
$MHEAD_RNG_PITCHd_Wd,19.2,843,-14.2,-8.065
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.72,-146.0,0.0,0.0,0,84,0.00,0.00,-67.07,0.000,6,0.000,0.000,138,2114,2908,0,0,0,0,0,0
$GC,86,-0.72,-146.0,2.8,-3.6,12,99,11.43,0.00,0.00,0.000,6,0.259,0.000,2692,2113,2910,0,0,0,0,0,0
$GC,200,-0.72,-146.0,20.8,-10.7,32,207,0.00,2.42,0.00,0.000,4,0.000,0.055,2682,3626,2911,0,0,0,0,0,0
$GC,308,-0.72,-146.0,32.7,-10.6,51,315,0.00,2.42,0.00,0.000,6,0.000,0.036,2683,2037,2912,0,0,0,0,0,0
$GC,417,-0.72,-146.0,44.6,-11.1,70,423,0.00,2.55,0.00,0.000,4,0.000,0.057,2671,3630,2912,0,0,0,0,0,0
$GC,508,-0.72,-146.0,55.9,-12.2,86,515,0.00,2.38,0.00,0.000,6,0.000,0.036,2671,2055,2912,0,0,0,0,0,0
$GC,616,-0.72,-146.0,68.0,-11.9,105,623,0.10,2.42,0.00,0.000,4,0.165,0.044,2696,466,2912,0,0,0,0,0,0
$GC,747,-0.72,-146.0,82.1,-10.3,128,754,0.00,2.42,0.00,0.000,6,0.000,0.041,2687,2053,2912,0,0,0,0,0,0
$GC,855,-0.72,-146.0,92.3,-9.4,147,861,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2053,2912,0,0,0,0,0,0
$GC,962,-0.72,-146.0,102.0,-8.7,166,969,0.00,2.50,0.00,0.000,4,0.000,0.055,2675,3637,2912,0,0,0,0,0,0
$GC,1042,-0.72,-146.0,109.4,-8.9,180,1049,0.00,2.42,0.00,0.000,6,0.000,0.036,2675,2031,2912,0,0,0,0,0,0
$GC,1151,-0.72,-146.0,119.7,-10.2,199,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2028,2912,0,0,0,0,0,0
$GC,1263,-0.72,-146.0,132.2,-11.4,218,1270,0.00,2.53,0.00,0.000,4,0.000,0.057,2662,3636,2912,0,0,0,0,0,0
$GC,1354,-0.72,-146.0,142.7,-12.1,234,1362,0.12,2.38,0.00,0.000,6,0.158,0.036,2695,2044,2912,0,0,0,0,0,0
$STATE,1428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1428,begin apogee
$GC,1431,-0.19,0.0,150.3,9.7,247,1557,0.52,0.00,116.53,0.600,6,0.119,0.000,2869,2044,2310,0,0,0,0,0,0
$STATE,1557,end apogee,CONTROL_FINISHED_OK
$STATE,1557,begin climb
$GC,1559,0.72,146.0,154.4,0.0,269,1684,0.85,0.00,118.97,0.578,6,0.076,0.000,3165,2044,1716,0,0,0,0,0,0
$GC,1785,0.72,146.0,133.7,11.8,309,1791,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,2044,1711,0,0,0,0,0,0
$GC,1893,0.72,146.0,120.6,12.1,328,1898,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,2044,1710,0,0,0,0,0,0
$GC,2000,0.72,146.0,105.8,13.1,347,2006,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,2044,1710,0,0,0,0,0,0
$GC,2107,0.72,146.0,92.6,12.5,366,2113,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,2044,1710,0,0,0,0,0,0
$GC,2214,0.72,146.0,77.9,14.2,385,2220,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,2043,1709,0,0,0,0,0,0
$GC,2321,0.72,146.0,63.2,12.9,404,2328,0.00,2.42,0.00,0.000,4,0.000,0.045,3176,473,1709,0,0,0,0,0,0
$GC,2373,0.72,146.0,56.4,12.7,413,2380,0.00,2.40,0.00,0.000,6,0.000,0.036,3177,2054,1709,0,0,0,0,0,0
$GC,2481,0.72,146.0,43.8,11.6,432,2488,0.00,2.45,0.00,0.000,4,0.000,0.050,3176,3630,1709,0,0,0,0,0,0
$GC,2516,0.72,146.0,39.4,12.7,438,2523,0.00,2.40,0.00,0.000,6,0.000,0.034,3189,2055,1709,0,0,0,0,0,0
$GC,2624,0.72,146.0,26.1,12.2,457,2631,0.00,2.42,0.00,0.000,4,0.000,0.045,3200,470,1709,0,0,0,0,0,0
$GC,2654,0.72,146.0,22.2,13.1,462,2661,0.12,2.40,0.00,0.000,6,0.158,0.036,3170,2058,1708,0,0,0,0,0,0
$GC,2762,0.72,146.0,9.0,11.8,481,2769,0.00,2.45,0.00,0.000,4,0.000,0.050,3170,3637,1708,0,0,0,0,0,0
$STATE,2808,end climb,SURFACE_DEPTH_REACHED
$STATE,2808,begin surface coast
$FINISH,0.2,1.021818
$STATE,2831,end surface coast,CONTROL_FINISHED_OK
$STATE,2831,begin surface
$SM_CCo,2848,57.10,0.063,0,0,1292,250.21
$SM_GC,1.29,0.00,0.00,57.10,0.000,0.000,0.063,146,2054,1292,-8.72,0.11,250.21
$IRIDIUM_FIX,4726.11,-12017.23,250312,131346
$TT8_MAMPS,0.025466
$HUMID,1078847087
$INTERNAL_PRESSURE,9.066
$TCM_TEMP,20.50
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,120.4,84.5
$24V_AH,24.2,10.997
$10V_AH,10.5,12.640
$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,21.300,43.850,235.500,57.100,0.000,28.482,29.038,193.932,1.250,0.000,14.474,1051.838,761.202,405.313,983.259,47.208,33.328,835.508,0.000,714.525,0.000,5.648,0.000
$DEVICE_MAMPS,259.335,56.610,599.760,62.730,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,329.518,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355028
$DATA_FILE_SIZE,13468,493
$CAP_FILE_SIZE,58778,0
$CFSIZE,260165632,257036288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300910,210238,4743.430,-12224.902,22,1.8,22,18.2