version: 66.07
glider: 33
mission: 14
dive: 20
start: 4 22 110 15 13 49
data:
$ID,33
$MISSION,14
$DIVE,20
$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,75
$T_MISSION,90
$T_ABORT,1440
$T_TURN,600
$T_TURN_SAMPINT,5
$T_NO_W,300
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,-7
$APOGEE_PITCH,-5
$MAX_BUOY,300
$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,600
$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,-213870.52
$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,16
$R_STBD_OVSHOOT,17
$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,-6.8056469e+38
$FG_AHR_24V,-6.8056469e+38
$PHONE_SUPPLY,2
$PRESSURE_YINT,-20.618473
$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
$GPS1,220410,150932,4806.061,-12221.505,12,1.9,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-62.2
$GPS2,220410,151256,4806.063,-12221.503,14,1.9,14,18.3
$SPEED_LIMITS,0.067,0.308
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.121,0.283
$KALMAN_X,-6749.3,151.5,-205.2,8238.5,-519.7
$KALMAN_Y,8450.3,-472.5,215.7,-10403.0,-37.4
$MHEAD_RNG_PITCHd_Wd,318.6,4732,-7.7,-6.667
$D_GRID,150
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.84,-293.3,0.0,0.0,0,139,0.00,0.00,-121.45,0.000,2,0.000,0.000,22,1907,2303,0,0,0,0,0,0
$GC,141,-0.84,-293.3,3.3,-3.2,24,244,8.45,2.53,-86.03,0.000,4,0.214,0.119,1529,490,3982,0,0,1,0,0,0
$GC,429,-0.84,-293.3,32.9,-10.0,66,435,0.00,2.42,0.00,0.000,6,0.000,0.104,1530,1895,3982,0,0,1,0,0,0
$GC,562,-0.84,-293.3,45.6,-9.0,79,563,0.00,0.00,0.00,0.000,6,0.000,0.000,1530,1895,3982,0,0,0,0,0,0
$GC,689,-0.84,-293.3,57.3,-9.4,91,690,0.00,0.00,0.00,0.000,6,0.000,0.000,1530,1895,3982,0,0,0,0,0,0
$GC,817,-0.84,-293.3,68.9,-8.6,103,818,0.00,0.00,0.00,0.000,6,0.000,0.000,1530,1896,3982,0,0,0,0,0,0
$GC,946,-0.84,-293.3,80.3,-9.0,115,951,0.00,2.72,0.00,0.000,4,0.000,0.159,1530,3313,3982,0,0,0,0,0,0
$STATE,1160,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1160,begin apogee
$GC,1165,-0.31,0.0,100.2,9.6,133,1353,0.50,0.00,183.62,0.867,6,0.112,0.000,1646,1843,3126,0,0,0,0,0,0
$STATE,1354,end apogee,CONTROL_FINISHED_OK
$STATE,1354,begin climb
$GC,1355,0.84,293.3,112.2,0.0,152,1577,1.10,2.72,208.98,0.849,4,0.094,0.124,1900,3264,2132,0,0,0,0,0,0
$GC,1582,0.92,353.3,114.1,5.8,174,1633,0.00,2.60,44.38,0.819,6,0.000,0.104,1899,1853,1928,0,0,1,0,0,0
$GC,1766,0.92,353.3,102.4,6.9,192,1770,0.00,2.62,0.00,0.000,4,0.000,0.124,1900,3267,1928,0,0,0,0,0,0
$GC,2446,1.02,434.2,58.4,5.4,252,2511,0.17,2.47,56.80,0.819,6,0.092,0.107,1953,1838,1655,0,0,1,0,0,0
$GC,2643,1.02,434.2,41.6,9.4,271,2648,0.00,2.60,0.00,0.000,4,0.000,0.124,1953,3264,1655,0,0,1,0,0,0
$GC,2935,1.02,434.2,15.1,8.8,301,2941,0.00,2.45,0.00,0.000,6,0.000,0.104,1953,1851,1655,0,0,1,0,0,0
$GC,3008,1.03,442.9,9.9,6.5,314,3019,0.00,0.00,7.95,0.705,6,0.000,0.000,1953,1852,1625,0,0,0,0,0,0
$GC,3086,1.03,442.9,4.5,7.0,328,3090,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,1851,1625,0,0,0,0,0,0
$STATE,3100,end climb,SURFACE_DEPTH_REACHED
$STATE,3100,begin surface coast
$FINISH,1.1,1.018737
$STATE,3174,end surface coast,CONTROL_FINISHED_OK
$STATE,3175,begin surface
$SM_CCo,3189,109.28,0.787,0,0,1093,600.20
$SM_GC,1.71,0.00,0.00,109.28,0.000,0.000,0.787,23,1910,1093,-7.80,0.28,600.20
$IRIDIUM_FIX,4751.72,-12223.57,161011,080847
$TT8_MAMPS,0.02247
$HUMID,1078030313
$INTERNAL_PRESSURE,8.22297
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,20.1
$ALTIM_BOTTOM_PING,100.2,18.6
$24V_AH,23.9,57.264
$10V_AH,10.3,12.052
$FG_AHR_24Vo,-680564693277057719623408366969033850880.000
$FG_AHR_10Vo,-680564693277057719623408366969033850880.000
$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,18.275,26.000,501.725,109.275,0.000,29.357,27.927,80.603,2.250,0.000,15.092,512.159,1370.014,674.083,924.441,38.785,33.322,1150.944,0.000,717.015,0.000,18.896,0.000
$DEVICE_MAMPS,213.538,158.912,866.567,787.111,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,225.740,0.000,523.711,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323544
$DATA_FILE_SIZE,16924,344
$CAP_FILE_SIZE,51419,0
$CFSIZE,260280320,256319488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,220410,160952,4806.279,-12221.840,11,2.9,30,18.3