version: 66.07
glider: 34
mission: 6
dive: 9
start: 11 19 110 5 46 6
data:
$ID,34
$MISSION,6
$DIVE,9
$D_SURF,5
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$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,225
$T_TURN_SAMPINT,5
$T_NO_W,180
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,-1
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$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,0
$KALMAN_USE,1
$HD_A,0.0047458
$HD_B,0.011518
$HD_C,5.7096e-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,975.34076
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-6973.1138
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,366
$PITCH_MAX,2908
$C_PITCH,2177
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,247
$ROLL_MAX,3968
$ROLL_DEG,40
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,151
$VBD_MAX,3963
$C_VBD,3455
$VBD_DBAND,2
$VBD_CNV,-0.29519999
$VBD_TIMEOUT,950
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,7
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,4
$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,-16.887691
$PRESSURE_SLOPE,0.00094911997
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,60
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,1
$DEEPGLIDERMB,1
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,101
$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,0.0043511861
$SEABIRD_T_H,0.0006267078
$SEABIRD_T_I,2.3336246e-05
$SEABIRD_T_J,2.4288879e-06
$SEABIRD_C_G,-10.094185
$SEABIRD_C_H,1.1592568
$SEABIRD_C_I,-0.0011433914
$SEABIRD_C_J,0.00016895766
$GPS1,191110,042308,4751.718,-12220.847,0,10000.0,0,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-65.4
$GPS2,191110,042308,4751.718,-12220.847,301,99.0,301,18.3
$SPEED_LIMITS,0.100,0.318
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.108,-0.300
$KALMAN_X,-1592.1,-533.8,50.9,2083.5,9.5
$KALMAN_Y,3388.1,1116.9,-90.6,-4746.5,133.3
$MHEAD_RNG_PITCHd_Wd,141.9,26488,-14.2,-10.000
$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,-1.38,-293.3,0.0,0.0,0,76,0.00,0.00,-59.12,0.000,2,0.000,0.000,355,2030,798,0,0,0,0,0,0
$GC,78,-1.38,-293.3,3.2,-2.8,10,260,8.80,2.42,-164.57,0.000,4,0.181,0.107,1870,613,3964,0,0,0,0,0,0
$GC,511,-1.38,-293.3,41.2,-11.1,69,520,0.00,2.28,0.00,0.000,6,0.000,0.074,1870,2003,3963,0,0,0,0,0,0
$GC,647,-1.38,-293.3,55.4,-10.0,82,648,0.00,0.00,0.00,0.000,6,0.000,0.000,1870,2003,3963,0,0,0,0,0,0
$GC,774,-1.38,-293.3,67.8,-9.4,94,775,0.00,0.00,0.00,0.000,6,0.000,0.000,1870,2003,3964,0,0,0,0,0,0
$GC,901,-1.38,-293.3,79.7,-9.1,106,905,0.00,2.40,0.00,0.000,4,0.000,0.099,1870,3433,3963,0,0,0,0,0,0
$GC,928,-1.38,-293.3,82.0,-9.2,108,935,0.00,2.38,0.00,0.000,6,0.000,0.087,1870,2024,3963,0,0,0,0,0,0
$GC,1062,-1.38,-293.3,94.6,-8.7,121,1066,0.00,2.38,0.00,0.000,4,0.000,0.099,1871,3434,3964,0,0,0,0,0,0
$GC,1085,-1.38,-293.3,96.7,-9.1,123,1089,0.00,2.35,0.00,0.000,6,0.000,0.087,1871,2023,3964,0,0,0,0,0,0
$GC,1218,-1.38,-293.3,108.6,-8.1,135,1219,0.00,0.00,0.00,0.000,6,0.000,0.000,1870,2022,3963,0,0,0,0,0,0
$STATE,1228,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1228,begin apogee
$GC,1231,-0.36,0.0,109.7,8.6,136,1344,1.15,0.00,106.75,0.842,6,0.129,0.000,2094,2021,3455,0,0,0,0,0,0
$STATE,1344,end apogee,CONTROL_FINISHED_OK
$STATE,1345,begin climb
$GC,1346,1.38,293.3,111.8,0.0,146,1564,1.92,0.00,212.60,0.814,6,0.097,0.000,2484,2021,2461,0,0,0,0,0,0
$GC,1687,1.38,293.3,75.4,17.6,179,1688,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2021,2461,0,0,0,0,0,0
$GC,1814,1.38,293.3,52.7,17.7,191,1819,0.00,2.38,0.00,0.000,4,0.000,0.099,2484,613,2462,0,0,0,0,0,0
$GC,1857,1.38,293.3,45.2,18.5,194,1866,0.00,2.30,0.00,0.000,6,0.000,0.070,2484,2033,2462,0,0,0,0,0,0
$GC,1992,1.38,293.3,21.0,17.6,207,1993,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2034,2461,0,0,0,0,0,0
$GC,2126,1.98,779.8,8.3,-1.7,230,2424,0.55,0.00,292.17,0.745,2,0.072,0.000,2624,2034,1069,0,0,0,0,0,0
$STATE,2425,end climb,NO_VERTICAL_VELOCITY
$STATE,2425,begin surface
$SM_CCo,2427,218.95,0.723,0,0,151,975.34
$SM_GC,2.37,11.43,0.00,0.00,0.079,0.000,0.000,356,2040,145,-8.28,0.40,977.11
$IRIDIUM_FIX,4751.72,-12219.12,191110,040446
$TT8_MAMPS,0.023219
$HUMID,47.36
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.0,999.0
$ALTIM_BOTTOM_PING,75.9,42.7
$24V_AH,24.1,2.295
$10V_AH,10.4,0.556
$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,23.850,18.875,611.525,218.950,0.000,166.792,141.713,0.000,1.500,0.000,304.252,475.229,1141.858,887.232,1125.089,49.167,33.217,1280.797,0.000,484.212,0.000,11.697,0.000
$DEVICE_MAMPS,181.259,106.769,841.737,722.553,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,179.383,0.000,0.000,428.869,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323716
$DATA_FILE_SIZE,13544,281
$CAP_FILE_SIZE,43164,0
$CFSIZE,260165632,253853696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191110,043046,4751.718,-12219.121,0,10000.0,0,18.3