version: 66.06
glider: 183
mission: 1
dive: 20
start: 5 27 110 10 4 36
data:
$ID,183
$MISSION,1
$DIVE,20
$D_SURF,4
$D_FLARE,5
$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,66
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-4
$USE_ICE,-1
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51282
$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,580
$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,-4882.2661
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,144
$PITCH_MAX,3955
$C_PITCH,2564
$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,241
$ROLL_MAX,3798
$ROLL_DEG,40
$C_ROLL_DIVE,2305
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,3324
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$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,-63.280094
$PRESSURE_SLOPE,0.00012025224
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.89999998
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$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,0.0043469137
$SEABIRD_T_H,0.00062159239
$SEABIRD_T_I,2.0014088e-05
$SEABIRD_T_J,1.6690842e-06
$SEABIRD_C_G,-9.9685602
$SEABIRD_C_H,1.1354375
$SEABIRD_C_I,-0.0013495153
$SEABIRD_C_J,0.00019269099
$GPS1,095832,4807.889,-12223.984,12,1.6,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-77.5
$GPS2,100356,4807.883,-12223.986,13,1.5,13,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.030,0.132
$KALMAN_X,1484.6,173.1,-77.6,-2786.0,64.5
$KALMAN_Y,1588.9,-672.8,-160.1,1005.5,-143.6
$MHEAD_RNG_PITCHd_Wd,328.9,217,-25.9,-7.576
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,11,-0.92,-44.5,0.0,0.0,0,109,0.00,0.00,-95.25,0.000,6,0.000,0.000,137,2327,3507,0,0,0,0,0,0
$GC,111,-0.98,-97.8,3.8,0.2,23,129,8.40,2.33,-5.78,0.000,4,0.247,0.082,2233,3708,3723,0,0,0,0,0,0
$GC,137,-0.98,-97.8,8.0,-12.3,29,143,0.00,2.35,0.00,0.000,6,0.000,0.057,2234,2303,3723,0,0,0,0,0,0
$GC,206,-0.98,-97.8,17.2,-11.6,45,212,0.00,2.38,0.00,0.000,4,0.000,0.071,2223,3699,3724,0,0,0,0,0,0
$GC,459,-0.98,-97.8,56.1,-18.3,103,464,0.00,2.28,0.00,0.000,6,0.000,0.052,2222,2310,3723,0,0,0,0,0,0
$GC,597,-0.98,-97.8,80.0,-17.9,134,602,0.00,2.33,0.00,0.000,4,0.000,0.069,2212,3711,3724,0,0,0,0,0,0
$STATE,717,end dive,TARGET_DEPTH_EXCEEDED
$STATE,718,begin apogee
$GC,722,-0.17,0.0,103.8,19.7,162,798,0.98,0.00,72.82,0.611,6,0.189,0.000,2497,2193,3323,0,0,0,0,0,0
$STATE,799,end apogee,CONTROL_FINISHED_OK
$STATE,799,begin climb
$GC,800,0.98,97.8,108.6,0.0,180,881,1.12,2.33,73.43,0.594,4,0.107,0.052,2886,782,2927,0,0,0,0,0,0
$GC,940,0.98,97.8,88.4,19.1,213,946,0.00,2.33,0.00,0.000,6,0.000,0.051,2886,2186,2926,0,0,0,0,0,0
$GC,1075,0.98,97.8,60.5,21.1,244,1081,0.00,2.40,0.00,0.000,4,0.000,0.061,2886,3614,2925,0,0,0,0,0,0
$GC,1110,0.98,97.8,52.8,21.8,252,1116,0.00,2.33,0.00,0.000,6,0.000,0.045,2897,2198,2925,0,0,0,0,0,0
$GC,1245,0.98,97.8,26.7,18.7,283,1251,0.00,2.35,0.00,0.000,4,0.000,0.060,2897,3614,2925,0,0,0,0,0,0
$GC,1272,0.98,97.8,21.4,19.7,289,1277,0.00,2.30,0.00,0.000,6,0.000,0.045,2908,2204,2926,0,0,0,0,0,0
$GC,1341,0.98,97.8,9.7,14.8,305,1347,0.00,2.35,0.00,0.000,4,0.000,0.061,2908,3614,2925,0,0,0,0,0,0
$GC,1363,0.98,97.8,6.9,13.4,310,1369,0.12,2.30,0.00,0.000,6,0.205,0.047,2885,2201,2925,0,0,0,0,0,0
$GC,1433,1.09,185.7,6.0,-2.5,326,1501,0.00,0.00,65.32,0.551,6,0.000,0.000,2884,2201,2566,0,0,0,0,0,0
$GC,1565,1.19,261.8,5.0,-1.1,357,1610,0.17,0.00,42.55,0.540,2,0.097,0.000,2947,2199,2333,0,0,0,0,0,0
$STATE,1610,end climb,SURFACE_DEPTH_REACHED
$STATE,1610,begin surface coast
$FINISH,3.8,1.017814
$STATE,1813,end surface coast,CONTROL_FINISHED_OK
$STATE,1813,begin surface
$SM_CCo,1825,178.95,0.512,1,0,958,580.13
$SM_GC,1.40,0.00,0.00,178.95,0.000,0.000,0.512,140,2327,958,-7.58,0.62,580.13
$IRIDIUM_FIX,4758.15,-12252.08,210899,090922
$TT8_MAMPS,0.055224
$HUMID,41.06
$INTERNAL_PRESSURE,8.93436
$TCM_TEMP,19.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.0,42.6
$24V_AH,24.4,1.904
$10V_AH,10.6,1.505
$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,18.725,33.025,254.125,178.950,0.000,22.323,25.859,209.845,0.750,0.000,15.307,0.000,800.254,480.773,744.242,308.241,33.310,848.850,0.000,597.485,0.000,5.528,0.000
$DEVICE_MAMPS,246.974,82.069,610.532,511.589,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,274.009,231.153,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324784
$DATA_FILE_SIZE,15950,414
$CAP_FILE_SIZE,49683,0
$CFSIZE,260165632,256663552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270510,103900,4808.034,-12224.009,33,1.3,37,18.3