version: 66.07
glider: 33
mission: 16
dive: 2
start: 5 6 110 19 26 16
data:
$ID,33
$MISSION,16
$DIVE,2
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,4005
$D_NO_BLEED,200
$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,50
$T_MISSION,60
$T_ABORT,1440
$T_TURN,600
$T_TURN_SAMPINT,5
$T_NO_W,300
$T_LOITER,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,2
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.5700001e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47
$TGT_DEFAULT_LON,-125
$TGT_AUTO_DEFAULT,0
$SM_CC,870
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-216176.34
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,27
$PITCH_MAX,2563
$C_PITCH,1720
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,60
$ROLL_MAX,3837
$ROLL_DEG,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,163
$VBD_MAX,3981
$C_VBD,3126
$VBD_DBAND,2
$VBD_CNV,-0.29522699
$VBD_TIMEOUT,950
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,151
$AH0_10V,122.2
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-19.784487
$PRESSURE_SLOPE,0.00093601202
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,60
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,1
$DEEPGLIDERMB,1
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,101
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$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,0.0043575475
$SEABIRD_T_H,0.00062940316
$SEABIRD_T_I,2.4306677e-05
$SEABIRD_T_J,2.6223986e-06
$SEABIRD_C_G,-10.332057
$SEABIRD_C_H,1.2094743
$SEABIRD_C_I,-0.0016192879
$SEABIRD_C_J,0.00021825745
$GPS1,060510,192119,4808.272,-12223.656,11,1.4,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-64.0
$GPS2,060510,192502,4808.312,-12223.685,11,1.4,11,18.3
$SPEED_LIMITS,0.100,0.300
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.040,-0.297
$KALMAN_X,-64.6,-64.6,-64.6,-301.0,-127.8
$KALMAN_Y,154.4,154.4,154.4,174.5,305.4
$MHEAD_RNG_PITCHd_Wd,169.3,697,-15.6,-10.000
$D_GRID,101
$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,-1.21,-195.5,0.0,0.0,0,153,0.00,0.00,-135.75,0.000,2,0.000,0.000,19,1907,1705,0,0,0,0,0,0
$GC,155,-1.21,-195.5,3.1,-2.2,27,323,7.47,2.45,-150.75,0.000,4,0.201,0.112,1450,3303,3789,0,0,1,0,0,0
$GC,638,-1.21,-195.5,35.8,-8.9,101,642,0.00,2.33,0.00,0.000,6,0.000,0.097,1450,1900,3789,0,0,1,0,0,0
$GC,770,-1.21,-195.5,47.8,-9.2,113,774,0.00,2.45,0.00,0.000,4,0.000,0.114,1450,3307,3789,0,0,1,0,0,0
$GC,832,-1.21,-195.5,53.3,-9.5,118,836,0.00,2.33,0.00,0.000,6,0.000,0.097,1450,1902,3789,0,0,1,0,0,0
$GC,966,-1.21,-195.5,64.6,-8.3,130,970,0.00,2.42,0.00,0.000,4,0.000,0.117,1450,3306,3789,0,0,0,0,0,0
$GC,1020,-1.21,-195.5,69.5,-8.4,134,1029,0.00,2.38,0.00,0.000,6,0.000,0.097,1450,1901,3789,0,0,1,0,0,0
$GC,1153,-1.21,-195.5,81.0,-8.1,147,1154,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,1900,3789,0,0,0,0,0,0
$GC,1281,-1.21,-195.5,91.5,-7.7,159,1285,0.00,2.45,0.00,0.000,4,0.000,0.117,1450,3306,3789,0,0,1,0,0,0
$GC,1331,-1.21,-195.5,95.4,-7.2,163,1336,0.00,2.33,0.00,0.000,6,0.000,0.099,1450,1899,3789,0,0,1,0,0,0
$STATE,1388,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1388,begin apogee
$GC,1392,-0.31,0.0,100.2,7.4,168,1532,0.90,0.00,136.15,0.914,6,0.124,0.000,1652,1848,3125,0,0,0,0,0,0
$STATE,1533,end apogee,CONTROL_FINISHED_OK
$STATE,1534,begin climb
$GC,1535,1.21,195.5,103.4,0.0,182,1677,1.42,0.00,135.43,0.876,6,0.084,0.000,1991,1848,2463,0,0,0,0,0,0
$GC,1803,1.21,195.5,77.3,15.1,208,1807,0.00,2.50,0.00,0.000,4,0.000,0.124,1991,447,2463,0,0,0,0,0,0
$GC,1868,1.21,195.5,66.8,16.0,213,1875,0.00,2.45,0.00,0.000,6,0.000,0.102,1991,1848,2463,0,0,1,0,0,0
$GC,2001,1.21,195.5,47.8,14.5,226,2003,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1848,2463,0,0,0,0,0,0
$GC,2129,1.21,195.5,29.9,14.1,238,2130,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1848,2463,0,0,0,0,0,0
$GC,2259,1.21,195.5,12.2,13.5,255,2264,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1848,2463,0,0,0,0,0,0
$GC,2332,1.43,370.0,5.6,4.0,268,2404,0.17,0.00,68.70,0.822,2,0.097,0.000,2042,1849,2119,0,0,0,0,0,0
$STATE,2404,end climb,SURFACE_DEPTH_REACHED
$STATE,2405,begin surface coast
$FINISH,3.6,1.018150
$STATE,2653,end surface coast,CONTROL_FINISHED_OK
$STATE,2653,begin surface
$SM_CCo,2668,386.15,0.800,0,0,179,870.03
$SM_GC,1.70,0.00,0.00,386.15,0.000,0.000,0.800,26,1911,179,-7.79,0.31,870.03
$IRIDIUM_FIX,4754.94,-12314.55,301011,131344
$TT8_MAMPS,0.021721
$HUMID,1078169668
$INTERNAL_PRESSURE,7.70537
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.6
$ALTIM_BOTTOM_PING,90.6,29.4
$24V_AH,24.6,1.230
$10V_AH,10.4,1.058
$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,18.525,24.250,340.275,386.150,0.000,0.000,0.000,0.000,1.500,0.000,12.702,473.907,1135.875,884.931,611.775,38.115,30.182,1286.433,0.000,559.888,0.000,11.691,0.000
$DEVICE_MAMPS,201.123,173.810,913.744,799.526,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,212.883,0.000,496.727,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324032
$DATA_FILE_SIZE,16868,326
$CAP_FILE_SIZE,68784,0
$CFSIZE,260280320,257003520
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,060510,201756,4808.065,-12223.829,13,1.4,13,18.3