version: 66.06
glider: 181
mission: 1
dive: 11
start: 2 3 110 3 14 41
data:
$ID,181
$MISSION,1
$DIVE,11
$D_SURF,5
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$D_NO_BLEED,500
$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,83
$T_MISSION,90
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$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,550
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-34508.527
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,162
$PITCH_MAX,3972
$C_PITCH,2625
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2120
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,3467
$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,-59.206589
$PRESSURE_SLOPE,0.000116609
$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,7
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$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,0.0043203235
$SEABIRD_T_H,0.00062277901
$SEABIRD_T_I,2.2452641e-05
$SEABIRD_T_J,2.2905836e-06
$SEABIRD_C_G,-10.17854
$SEABIRD_C_H,1.1531147
$SEABIRD_C_I,-0.0013870052
$SEABIRD_C_J,0.0002016264
$GPS1,030732,4806.257,-12222.205,8,1.5,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-74.6
$GPS2,031402,4806.266,-12222.188,11,1.5,11,18.3
$SPEED_LIMITS,0.104,0.197
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.145,-0.132
$KALMAN_X,-2920.0,-371.7,129.7,4367.8,-649.0
$KALMAN_Y,995.4,-61.3,28.5,-3766.5,501.2
$MHEAD_RNG_PITCHd_Wd,114.0,544,-11.7,-6.024
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.53,-117.3,0.0,0.0,0,80,0.00,0.00,-66.72,0.000,2,0.000,0.000,166,2120,2899,0,0,0,0,0,0
$GC,82,-0.53,-117.3,3.1,-3.9,13,130,12.73,2.28,-27.12,0.000,4,0.330,0.061,2440,708,3947,0,0,0,0,0,0
$GC,282,-0.53,-117.3,21.0,-9.9,57,287,0.00,2.28,0.00,0.000,6,0.000,0.049,2433,2120,3948,0,0,0,0,0,0
$GC,352,-0.53,-117.3,28.1,-10.3,73,358,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2120,3948,0,0,0,0,0,0
$GC,423,-0.53,-117.3,35.6,-10.6,89,428,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2120,3948,0,0,0,0,0,0
$GC,493,-0.53,-117.3,42.9,-10.7,105,498,0.00,2.30,0.00,0.000,4,0.000,0.058,2423,3544,3946,0,0,0,0,0,0
$GC,531,-0.53,-117.3,47.5,-11.2,114,538,0.00,2.25,0.00,0.000,6,0.000,0.040,2422,2116,3948,0,0,0,0,0,0
$GC,668,-0.53,-117.3,62.6,-11.0,145,673,0.12,2.30,0.00,0.000,4,0.200,0.058,2439,3539,3949,0,0,0,0,0,0
$GC,712,-0.53,-117.3,66.9,-10.1,155,717,0.00,2.22,0.00,0.000,6,0.000,0.041,2443,2107,3948,0,0,0,0,0,0
$GC,847,-0.53,-117.3,80.0,-9.4,186,858,0.00,2.30,0.00,0.000,4,0.000,0.058,2432,3531,3949,0,0,0,0,0,0
$GC,918,-0.53,-117.3,87.0,-9.9,201,923,0.00,2.20,0.00,0.000,6,0.000,0.041,2432,2111,3948,0,0,0,0,0,0
$GC,1053,-0.53,-117.3,99.4,-9.2,232,1059,0.00,2.30,0.00,0.000,4,0.000,0.058,2424,3538,3948,0,0,0,0,0,0
$GC,1080,-0.53,-117.3,102.2,-9.6,238,1086,0.00,2.22,0.00,0.000,6,0.000,0.041,2424,2118,3948,0,0,0,0,0,0
$GC,1217,-0.53,-117.3,114.7,-8.7,269,1221,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,2116,3948,0,0,0,0,0,0
$STATE,1298,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1298,begin apogee
$GC,1300,-0.17,0.0,121.9,8.5,288,1393,0.45,0.00,87.25,0.663,6,0.168,0.000,2558,2116,3471,0,0,0,0,0,0
$STATE,1393,end apogee,CONTROL_FINISHED_OK
$STATE,1393,begin climb
$GC,1394,0.53,117.3,124.0,0.0,307,1490,0.73,2.30,88.88,0.634,4,0.112,0.048,2805,716,2987,0,0,0,0,0,0
$GC,1511,0.53,117.3,113.5,12.2,332,1517,0.00,2.35,0.00,0.000,6,0.000,0.048,2805,2118,2989,0,0,0,0,0,0
$GC,1648,0.53,117.3,95.4,12.5,363,1652,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2118,2986,0,0,0,0,0,0
$GC,1782,0.53,117.3,78.9,12.2,394,1788,0.00,2.33,0.00,0.000,4,0.000,0.057,2805,3538,2986,0,0,0,0,0,0
$GC,1843,0.53,117.3,70.5,13.8,408,1850,0.00,2.25,0.00,0.000,6,0.000,0.042,2815,2130,2986,0,0,0,0,0,0
$GC,1980,0.53,117.3,53.2,12.6,439,1985,0.00,2.28,0.00,0.000,4,0.000,0.057,2815,3542,2986,0,0,0,0,0,0
$GC,2019,0.53,117.3,47.9,13.2,448,2026,0.00,2.28,0.00,0.000,6,0.000,0.043,2826,2117,2986,0,0,0,0,0,0
$GC,2156,0.53,117.3,30.7,12.1,479,2161,0.00,2.22,0.00,0.000,4,0.000,0.051,2837,709,2986,0,0,0,0,0,0
$GC,2187,0.53,117.3,26.8,12.6,486,2193,0.12,2.25,0.00,0.000,6,0.179,0.049,2801,2119,2989,0,0,0,0,0,0
$GC,2258,0.53,117.3,19.2,10.3,502,2264,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2119,2986,0,0,0,0,0,0
$GC,2329,0.53,117.3,12.2,9.7,518,2334,0.00,2.28,0.00,0.000,4,0.000,0.058,2801,3527,2989,0,0,0,0,0,0
$STATE,2407,end climb,SURFACE_DEPTH_REACHED
$STATE,2408,begin surface coast
$FINISH,4.7,1.020123
$STATE,2468,end surface coast,CONTROL_FINISHED_OK
$STATE,2468,begin surface
$SM_CCo,2482,247.52,0.557,0,0,1223,550.21
$SM_GC,1.16,0.00,0.00,247.52,0.000,0.000,0.557,162,2107,1223,-7.70,-0.37,550.21
$IRIDIUM_FIX,4748.51,-12210.23,300499,020214
$TT8_MAMPS,0.052156
$HUMID,32.63
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,16.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.3,48.3
$24V_AH,24.4,1.248
$10V_AH,10.3,0.850
$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,22.025,45.425,176.125,247.525,0.000,28.102,27.407,259.285,0.500,0.000,13.759,0.000,917.819,500.261,1308.640,386.569,33.289,997.850,0.000,1114.523,0.000,5.856,0.000
$DEVICE_MAMPS,329.810,60.593,662.688,556.842,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,372.770,852.388,777.994,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324564
$DATA_FILE_SIZE,38235,550
$CAP_FILE_SIZE,63578,0
$CFSIZE,260165632,255700992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030210,040058,4806.072,-12221.861,9,2.5,28,18.3