version: 66.08
glider: 160
mission: 5
dive: 6
start: 8 20 110 20 38 21
data:
$ID,160
$MISSION,5
$DIVE,6
$N_DIVES,8
$D_SURF,3
$D_FLARE,3
$D_TGT,120
$D_ABORT,150
$D_NO_BLEED,50
$D_BOOST,3
$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,40
$T_MISSION,55
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51466
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$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,630.23297
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-23278.635
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3934
$C_PITCH,2890
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3792
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,190
$VBD_MAX,3672
$C_VBD,2800
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,146
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-22.049028
$PRESSURE_SLOPE,0.0001158597
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,90
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,38
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,133
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043266471
$SEABIRD_T_H,0.00064084155
$SEABIRD_T_I,2.379043e-05
$SEABIRD_T_J,2.3582356e-06
$SEABIRD_C_G,-10.224228
$SEABIRD_C_H,1.1776123
$SEABIRD_C_I,-0.0036268684
$SEABIRD_C_J,0.00029912117
$GPS1,200810,203338,4743.184,-12224.422,8,1.4,8,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-71.9
$GPS2,200810,203755,4743.167,-12224.418,13,1.5,13,18.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NE
$TGT_LATLONG,4743.500,-12224.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,22.0,807,-17.5,-10.000
$D_GRID,176
$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,12,begin dive
$GC,15,-0.76,-146.6,0.0,0.0,0,128,0.00,0.00,-110.12,0.000,2,0.000,0.000,144,2606,2879,0,0,0,0,0,0
$GC,131,-0.76,-146.6,3.1,-3.3,16,162,10.35,2.25,-14.65,0.000,4,0.267,0.052,2636,1177,3400,0,0,0,0,0,0
$GC,396,-0.64,-146.6,46.4,-15.9,65,404,0.12,2.25,0.00,0.000,6,0.163,0.046,2675,2604,3401,0,0,0,0,0,0
$GC,532,-0.57,-146.6,65.2,-13.6,90,541,0.10,2.20,0.00,0.000,4,0.198,0.038,2701,1180,3402,0,0,0,0,0,0
$GC,674,-0.57,-146.6,81.9,-11.0,116,681,0.00,2.25,0.00,0.000,6,0.000,0.047,2700,2608,3402,0,0,0,0,0,0
$GC,807,-0.57,-146.6,96.3,-10.3,141,815,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2608,3402,0,0,0,0,0,0
$GC,944,-0.55,-146.6,111.6,-10.9,166,952,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2608,3402,0,0,0,0,0,0
$STATE,1014,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1014,begin apogee
$GC,1021,-0.17,0.0,120.0,10.2,179,1133,0.38,0.00,105.05,0.685,6,0.135,0.000,2825,2390,2800,0,0,0,0,0,0
$STATE,1135,end apogee,CONTROL_FINISHED_OK
$STATE,1135,begin climb
$GC,1137,0.76,146.6,124.3,0.0,195,1256,0.90,0.00,108.57,0.667,6,0.096,0.000,3134,2389,2200,0,0,0,0,0,0
$GC,1384,0.66,146.6,102.0,10.8,236,1393,0.12,2.30,0.00,0.000,4,0.172,0.055,3097,3782,2197,0,0,0,0,0,0
$GC,1412,0.55,146.6,98.7,12.2,240,1421,0.10,2.17,0.00,0.000,6,0.143,0.036,3073,2405,2197,0,0,0,0,0,0
$GC,1551,0.61,188.9,86.8,8.1,265,1587,0.00,0.00,32.17,0.634,6,0.000,0.000,3073,2404,2028,0,0,0,0,0,0
$GC,1715,0.69,220.1,72.6,8.6,294,1745,0.12,0.00,24.33,0.624,6,0.088,0.000,3135,2404,1901,0,0,0,0,0,0
$GC,1872,0.65,220.1,53.7,12.2,322,1881,0.12,2.25,0.00,0.000,4,0.158,0.054,3097,3781,1897,0,0,0,0,0,0
$GC,1905,0.62,220.1,49.8,12.5,327,1912,0.00,2.17,0.00,0.000,6,0.000,0.036,3106,2393,1897,0,0,0,0,0,0
$GC,2038,0.65,250.1,36.7,8.6,352,2068,0.00,2.17,23.10,0.609,4,0.000,0.041,3110,998,1778,0,0,0,0,0,0
$GC,2113,0.79,291.7,30.7,8.1,364,2151,0.08,2.25,32.17,0.610,6,0.060,0.047,3163,2405,1610,0,0,0,0,0,0
$GC,2278,0.77,291.7,10.4,14.6,393,2285,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2405,1603,0,0,0,0,0,0
$STATE,2336,end climb,SURFACE_DEPTH_REACHED
$STATE,2336,begin surface coast
$FINISH,1.1,1.010119
$STATE,2363,end surface coast,CONTROL_FINISHED_OK
$STATE,2364,begin surface
$SM_CCo,2381,261.92,0.590,1,0,229,630.42
$SM_GC,2.12,0.00,0.00,261.92,0.000,0.000,0.590,146,2617,229,-8.58,0.48,630.42
$IRIDIUM_FIX,4726.11,-12226.07,200810,191900
$TT8_MAMPS,0.026964
$HUMID,45.98
$INTERNAL_PRESSURE,8.71514
$TCM_TEMP,16.40
$XPDR_PINGS,0
$24V_AH,24.6,1.649
$10V_AH,10.5,0.947
$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,20.300,22.925,325.400,261.925,0.000,31.093,39.816,81.285,1.000,0.000,15.820,863.879,43.268,610.192,1283.960,120.019,0.000,1079.087,0.000,1132.553,0.000,7.238,0.000
$DEVICE_MAMPS,266.985,62.730,685.440,589.815,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,292.999,293.869,1043.162,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323636
$DATA_FILE_SIZE,20267,409
$CAP_FILE_SIZE,48287,0
$CFSIZE,260165632,256684032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200810,212320,4743.210,-12224.268,11,2.0,11,18.2