version: 66.05
glider: 159
mission: 11
dive: 19
start: 4 10 109 10 28 58
data:
$ID,159
$MISSION,11
$DIVE,19
$D_SURF,4
$D_FLARE,3
$D_TGT,120
$D_ABORT,1090
$D_NO_BLEED,200
$D_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,40
$T_MISSION,55
$T_ABORT,1440
$T_TURN,270
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51634
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0041149999
$HD_B,0.014024
$HD_C,5.5727e-05
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-83359.711
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,30
$PITCH_MAX,4055
$C_PITCH,2975
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,145
$ROLL_MAX,4045
$ROLL_DEG,40
$C_ROLL_DIVE,2235
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,188
$VBD_MAX,3616
$C_VBD,2836
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,40
$AH0_10V,16
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,13.369734
$FG_AHR_24V,14.649673
$PHONE_SUPPLY,2
$PRESSURE_YINT,-12.703127
$PRESSURE_SLOPE,0.0001162598
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,25
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$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,0
$DEEPGLIDERMB,0
$MOTHERBOARD,5
$DEVICE1,2
$DEVICE2,39
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-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,0.0042382758
$SEABIRD_T_H,0.00063342927
$SEABIRD_T_I,2.5365067e-05
$SEABIRD_T_J,2.828881e-06
$SEABIRD_C_G,-10.044323
$SEABIRD_C_H,1.1187451
$SEABIRD_C_I,-0.0012770178
$SEABIRD_C_J,0.00018763109
$GPS1,102949,4807.762,-12223.749,12,1.6,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.04
$_SM_ANGLEo,-69.6
$GPS2,103402,4807.753,-12223.728,11,1.6,11,18.3
$SPEED_LIMITS,0.100,0.229
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.129,0.189
$KALMAN_X,-819.1,23.3,47.2,-70.0,8.0
$KALMAN_Y,2925.8,87.9,-75.3,-2367.5,-37.5
$MHEAD_RNG_PITCHd_Wd,307.3,568,-19.9,-10.000
$D_GRID,105
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.87,-171.1,0.0,0.0,0,145,0.00,0.00,-118.00,0.000,2,0.007,0.000,28,2216,2790,0,0,0,0,0,0
$GC,150,-1.87,-171.1,3.7,-14.4,23,195,10.57,2.53,-25.62,0.000,4,0.233,0.051,2552,3643,3535,0,0,0,0,0,0
$GC,295,-1.87,-171.1,13.1,-8.7,49,302,0.00,2.33,0.00,0.009,6,0.000,0.046,2552,2251,3536,0,0,0,0,0,0
$GC,368,-1.87,-171.1,20.0,-10.5,62,373,0.00,2.40,0.00,0.007,4,0.007,0.070,2542,3650,3536,0,0,0,0,0,0
$GC,409,-1.87,-171.1,24.2,-10.6,65,414,0.08,2.33,0.00,0.011,6,0.059,0.046,2564,2231,3536,0,0,0,0,0,0
$GC,607,-1.87,-171.1,45.1,-11.3,83,612,0.00,2.42,0.00,0.007,4,0.007,0.070,2556,3645,3536,0,0,0,0,0,0
$GC,658,-1.87,-171.1,50.9,-10.4,87,663,0.00,2.33,0.00,0.008,6,0.061,0.051,2555,2234,3536,0,0,0,0,0,0
$GC,986,-1.87,-171.1,88.8,-11.0,117,991,0.00,2.42,0.00,0.000,4,0.007,0.064,2546,3647,3536,0,0,0,0,0,0
$GC,1008,-1.87,-171.1,92.0,-12.0,118,1015,0.05,2.35,0.00,0.015,6,0.015,0.033,2560,2239,3536,0,0,0,0,0,0
$STATE,1130,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1130,begin apogee
$GC,1137,-0.42,0.0,105.9,11.7,130,1274,1.02,0.00,131.32,0.778,6,0.143,0.026,2878,2313,2836,0,0,0,0,0,0
$STATE,1275,end apogee,CONTROL_FINISHED_OK
$STATE,1275,begin climb
$GC,1278,1.87,171.1,109.4,0.0,144,1420,1.48,2.50,128.73,0.758,4,0.090,0.076,3381,893,2137,0,0,0,0,0,0
$GC,1425,1.87,171.1,95.7,12.4,158,1431,0.00,2.35,0.00,0.061,6,0.061,0.046,3376,2291,2137,0,0,0,0,0,0
$GC,1753,1.87,171.1,52.5,13.0,189,1758,0.00,2.40,0.00,0.007,4,0.000,0.066,3377,3707,2135,0,0,0,0,0,0
$GC,1792,1.87,171.1,46.9,13.8,192,1797,0.00,2.33,0.00,0.008,6,0.068,0.051,3380,2301,2135,0,0,0,0,0,0
$GC,1990,1.87,171.1,21.3,13.3,210,1995,0.00,2.42,0.00,0.007,4,0.000,0.072,3381,887,2135,0,0,0,0,0,0
$GC,2030,1.87,171.1,16.1,13.9,215,2037,0.00,2.38,0.00,0.009,6,0.055,0.047,3377,2300,2135,0,0,0,0,0,0
$GC,2102,1.87,171.1,7.7,10.6,228,2109,0.00,0.00,0.00,-0.000,6,0.007,0.007,3377,2301,2135,0,0,0,0,0,0
$STATE,2136,end climb,SURFACE_DEPTH_REACHED
$STATE,2136,begin surface coast
$FINISH,2.0,1.013253
$STATE,2179,end surface coast,CONTROL_FINISHED_OK
$STATE,2179,begin surface
$SM_CCo,2201,295.35,0.713,0,0,592,550.21
$SM_GC,0.10,0.00,0.00,295.35,0.007,0.031,0.713,30,2220,592,-13.55,-0.42,550.21
$SUPER,3,206,254,0,0,0
$IRIDIUM_FIX,4751.72,-12219.12,050798,090921
$HUMID,1078024085
$INTERNAL_PRESSURE,9.01452
$TCM_TEMP,12.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.5,999.0
$24V_AH,23.8,3.825
$10V_AH,12.0,1.467
$FG_AHR_24Vo,14.771
$FG_AHR_10Vo,13.397
$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,23.200,33.675,260.050,295.350,0.000,29.345,30.388,91.688,0.250,0.000,15.517,374.554,794.699,603.616,721.260,274.291,33.332,805.403,0.000,719.888,0.000,2.556,0.000
$DEVICE_MAMPS,233.000,75.938,777.612,712.643,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,140.561,617.917,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324676
$DATA_FILE_SIZE,9730,242
$CAP_FILE_SIZE,38669,0
$CFSIZE,260034560,257007616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100409,111807,4807.992,-12223.958,40,0.9,40,18.3