version: 66.06
glider: 181
mission: 1
dive: 12
start: 2 3 110 4 8 43
data:
$ID,181
$MISSION,1
$DIVE,12
$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,-34540.555
$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,31
$R_STBD_OVSHOOT,24
$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
$GPS1,040058,4806.072,-12221.861,9,2.5,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-74.4
$GPS2,040804,4806.076,-12221.824,9,2.4,28,18.3
$SPEED_LIMITS,0.104,0.197
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.100,-0.138
$KALMAN_X,-3091.7,-337.5,16.9,5064.1,-711.7
$KALMAN_Y,1093.7,25.4,140.6,-4412.0,546.0
$MHEAD_RNG_PITCHd_Wd,125.8,259,-14.5,-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,-0.59,-84.1,0.0,0.0,0,86,0.00,0.00,-71.82,0.000,2,0.000,0.000,161,2107,3055,0,0,0,0,0,0
$GC,87,-0.63,-117.3,3.5,-4.2,14,129,12.38,2.33,-24.00,0.000,4,0.327,0.067,2400,3538,3946,0,0,0,0,0,0
$GC,377,-0.63,-117.3,34.0,-12.9,79,383,0.00,2.25,0.00,0.000,6,0.000,0.039,2400,2112,3946,0,0,0,0,0,0
$GC,448,-0.63,-117.3,43.6,-13.5,95,453,0.00,2.28,0.00,0.000,4,0.000,0.057,2390,3542,3947,0,0,0,0,0,0
$GC,503,-0.63,-117.3,51.7,-14.0,108,511,0.08,2.25,0.00,0.000,6,0.208,0.039,2409,2115,3947,0,0,0,0,0,0
$GC,641,-0.63,-117.3,68.1,-11.3,139,646,0.00,2.28,0.00,0.000,4,0.000,0.058,2400,3535,3946,0,0,0,0,0,0
$GC,679,-0.63,-117.3,73.0,-12.0,148,686,0.00,2.22,0.00,0.000,6,0.000,0.041,2400,2118,3947,0,0,0,0,0,0
$GC,817,-0.63,-117.3,89.7,-12.1,179,822,0.00,2.28,0.00,0.000,4,0.000,0.058,2389,3542,3947,0,0,0,0,0,0
$GC,847,-0.63,-117.3,93.8,-12.9,186,854,0.10,2.22,0.00,0.000,6,0.196,0.040,2416,2119,3947,0,0,0,0,0,0
$GC,984,-0.63,-117.3,108.3,-10.2,217,989,0.00,2.25,0.00,0.000,4,0.000,0.058,2407,3548,3947,0,0,0,0,0,0
$GC,996,-0.63,-117.3,109.6,-10.2,220,1003,0.00,2.22,0.00,0.000,6,0.000,0.040,2407,2126,3947,0,0,0,0,0,0
$STATE,1097,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1097,begin apogee
$GC,1100,-0.17,0.0,119.8,9.8,243,1191,0.52,0.00,87.00,0.663,6,0.173,0.000,2563,2123,3465,0,0,0,0,0,0
$STATE,1192,end apogee,CONTROL_FINISHED_OK
$STATE,1192,begin climb
$GC,1193,0.63,117.3,122.0,0.0,262,1284,0.80,0.00,88.38,0.635,6,0.110,0.000,2821,2123,2989,0,0,0,0,0,0
$GC,1415,0.63,117.3,95.2,13.8,311,1419,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2123,2986,0,0,0,0,0,0
$GC,1548,0.63,117.3,76.9,13.3,342,1555,0.00,2.33,0.00,0.000,4,0.000,0.058,2822,3536,2987,0,0,0,0,0,0
$GC,1590,0.63,117.3,71.1,14.4,351,1594,0.00,2.25,0.00,0.000,6,0.000,0.043,2832,2120,2987,0,0,0,0,0,0
$GC,1724,0.63,117.3,52.3,13.6,382,1731,0.00,2.33,0.00,0.000,4,0.000,0.057,2832,3527,2987,0,0,0,0,0,0
$GC,1756,0.63,117.3,47.6,14.3,389,1761,0.00,2.22,0.00,0.000,6,0.000,0.042,2842,2117,2987,0,0,0,0,0,0
$GC,1891,0.63,117.3,28.6,13.9,420,1897,0.00,2.22,0.00,0.000,4,0.000,0.051,2854,715,2987,0,0,0,0,0,0
$GC,1953,0.63,117.3,20.1,13.6,434,1959,0.00,2.25,0.00,0.000,6,0.000,0.049,2854,2120,2988,0,0,0,0,0,0
$GC,2024,0.63,117.3,10.4,13.8,450,2030,0.00,2.33,0.00,0.000,4,0.000,0.057,2853,3545,2987,0,0,0,0,0,0
$STATE,2068,end climb,SURFACE_DEPTH_REACHED
$STATE,2068,begin surface coast
$FINISH,4.1,1.020112
$STATE,2077,end surface coast,CONTROL_FINISHED_OK
$STATE,2077,begin surface
$SM_CCo,2091,250.55,0.537,1,0,1223,550.21
$SM_GC,1.16,0.00,0.00,250.55,0.000,0.000,0.537,164,2116,1223,-7.69,-0.11,550.21
$IRIDIUM_FIX,4751.72,-12230.75,300499,030336
$TT8_MAMPS,0.051389
$HUMID,32.31
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.1,46.5
$24V_AH,24.4,1.339
$10V_AH,10.4,0.905
$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,21.925,40.775,175.375,250.550,0.000,28.917,39.526,267.975,0.500,0.000,31.402,0.000,759.945,490.206,1118.581,400.125,33.290,916.075,0.000,931.515,0.000,5.821,0.000
$DEVICE_MAMPS,326.742,66.729,662.688,536.900,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,312.248,703.091,644.713,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324492
$DATA_FILE_SIZE,31942,462
$CAP_FILE_SIZE,55260,0
$CFSIZE,260165632,255676416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030210,044819,4805.843,-12221.639,6,1.5,11,18.3