version: 66.07
glider: 22
mission: 15
dive: 20
start: 2 4 110 9 5 54
data:
$ID,22
$MISSION,15
$DIVE,20
$D_SURF,6
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,30
$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,50
$T_MISSION,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51743
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0040048002
$HD_B,0.010364
$HD_C,5.4717998e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,48.099998
$TGT_DEFAULT_LON,-122.36667
$TGT_AUTO_DEFAULT,0
$SM_CC,550
$N_FILEKB,8
$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,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-253024.08
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,380
$PITCH_MAX,3641
$C_PITCH,2552
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,18
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,150
$ROLL_MAX,3954
$ROLL_DEG,40
$C_ROLL_DIVE,2425
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3841
$C_VBD,3230
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,1
$AH0_24V,91.800003
$AH0_10V,61.200001
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-22.247711
$PRESSURE_SLOPE,0.00011632
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,1.7
$TCM_ROLL_OFFSET,-0.89999998
$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,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,15
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,69
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,19
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044149966
$SEABIRD_T_H,0.00064680085
$SEABIRD_T_I,2.5778523e-05
$SEABIRD_T_J,2.7323422e-06
$SEABIRD_C_G,-10.507483
$SEABIRD_C_H,1.1800622
$SEABIRD_C_I,-0.00046262925
$SEABIRD_C_J,0.00014728548
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$GPS1,040210,090107,4807.515,-12223.577,55,2.0,55,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-70.0
$GPS2,040210,090502,4807.557,-12223.625,34,1.9,34,18.3
$SPEED_LIMITS,0.173,0.233
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.137,-0.189
$KALMAN_X,-685.4,12.7,-74.8,617.9,-136.6
$KALMAN_Y,1640.2,196.1,120.1,-2925.3,180.2
$MHEAD_RNG_PITCHd_Wd,125.8,3514,-20.7,-10.000
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.28,-117.3,0.0,0.0,0,113,0.00,0.00,-95.03,0.000,2,0.000,0.000,379,2446,2691,0,0,0,0,0,0
$GC,116,-1.28,-117.3,3.0,-6.2,19,177,10.32,2.50,-45.80,0.000,4,0.164,0.057,2268,1011,3708,0,0,0,0,0,0
$GC,222,-1.28,-117.3,9.8,-10.7,39,228,0.00,2.47,0.00,0.000,6,0.000,0.050,2268,2419,3709,0,0,0,0,0,0
$GC,296,-1.28,-117.3,19.5,-13.5,52,300,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,2420,3709,0,0,0,0,0,0
$GC,365,-1.28,-117.3,28.7,-13.3,59,369,0.00,2.45,0.00,0.000,4,0.000,0.047,2268,1011,3709,0,0,0,0,0,0
$GC,385,-1.28,-117.3,31.9,-14.7,60,391,0.00,2.50,0.00,0.000,6,0.000,0.049,2268,2433,3709,0,0,0,0,0,0
$GC,584,-1.28,-117.3,61.5,-15.1,79,588,0.00,2.53,0.00,0.000,4,0.000,0.063,2268,3833,3709,0,0,0,0,0,0
$GC,768,-1.28,-117.3,92.2,-15.8,95,772,0.00,2.47,0.00,0.000,6,0.000,0.043,2268,2415,3709,0,0,0,0,0,0
$STATE,846,end dive,TARGET_DEPTH_EXCEEDED
$STATE,846,begin apogee
$GC,851,-0.28,0.0,103.6,13.9,102,951,1.10,0.00,94.82,0.693,6,0.114,0.000,2487,2071,3230,0,0,0,0,0,0
$STATE,952,end apogee,CONTROL_FINISHED_OK
$STATE,952,begin climb
$GC,954,1.28,117.3,107.1,0.0,112,1060,1.58,2.50,95.07,0.672,4,0.076,0.051,2828,714,2751,0,0,0,0,0,0
$GC,1082,1.28,117.3,94.0,15.3,124,1088,0.00,2.47,0.00,0.000,6,0.000,0.046,2828,2109,2749,0,0,0,0,0,0
$GC,1407,1.28,117.3,46.3,14.1,155,1411,0.00,2.50,0.00,0.000,4,0.000,0.055,2828,3521,2744,0,0,0,0,0,0
$GC,1483,1.28,117.3,34.3,15.0,161,1490,0.00,2.45,0.00,0.000,6,0.000,0.043,2828,2114,2743,0,0,0,0,0,0
$GC,1687,1.28,117.3,7.0,11.5,188,1692,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2111,2743,0,0,0,0,0,0
$STATE,1696,end climb,SURFACE_DEPTH_REACHED
$STATE,1696,begin surface coast
$FINISH,2.5,1.021047
$STATE,1748,end surface coast,CONTROL_FINISHED_OK
$STATE,1748,begin surface
$SM_CCo,1768,225.82,0.590,0,0,986,550.21
$SM_GC,0.82,0.00,0.00,225.82,0.000,0.000,0.590,379,2443,986,-10.00,0.51,550.21
$IRIDIUM_FIX,4748.51,-12221.84,310711,020201
$TT8_MAMPS,0.029146
$HUMID,1078089668
$TCM_TEMP,19.40
$XPDR_PINGS,0
$24V_AH,23.7,2.036
$10V_AH,9.9,0.586
$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,24.200,25.950,189.900,225.825,0.000,25.006,25.871,82.570,0.000,0.000,35.736,323.454,810.050,526.350,371.914,215.139,33.353,777.246,0.000,356.707,0.000,0.526,0.000
$DEVICE_MAMPS,164.138,62.894,692.601,589.823,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,129.568,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324252
$DATA_FILE_SIZE,6464,199
$CAP_FILE_SIZE,33958,0
$CFSIZE,260034560,256507904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040210,094014,4807.458,-12223.506,29,1.9,29,18.3