version: 66.06
glider: 128
mission: 2
dive: 15
start: 3 25 110 6 7 20
data:
$ID,128
$MISSION,2
$DIVE,15
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,4
$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,720
$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,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51580
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,19
$TGT_DEFAULT_LON,118
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-172366.58
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,154
$PITCH_MAX,3958
$C_PITCH,2910
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,190
$ROLL_MAX,3778
$ROLL_DEG,40
$C_ROLL_DIVE,2350
$C_ROLL_CLIMB,2320
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,204
$VBD_MAX,3580
$C_VBD,3007
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,1
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-13.18169
$PRESSURE_SLOPE,0.0001162386
$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,75
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,35
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-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,0.0043202997
$SEABIRD_T_H,0.00063066871
$SEABIRD_T_I,2.423454e-05
$SEABIRD_T_J,2.6245777e-06
$SEABIRD_C_G,-9.8552961
$SEABIRD_C_H,1.1169292
$SEABIRD_C_I,-0.0010928692
$SEABIRD_C_J,0.00015437596
$GPS1,055925,4806.501,-12222.809,11,2.0,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-71.8
$GPS2,060625,4806.484,-12222.798,41,1.1,41,18.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.091,0.216
$KALMAN_X,1203.4,21.8,23.2,-619.6,20.5
$KALMAN_Y,-790.7,406.0,-100.6,-1065.5,-127.4
$MHEAD_RNG_PITCHd_Wd,318.8,3176,-20.5,-10.000
$D_GRID,101
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.03,-116.8,0.0,0.0,0,147,0.00,0.00,-126.10,0.000,2,0.000,0.000,153,2343,3284,0,0,0,0,0,0
$GC,153,-1.03,-116.8,3.6,-5.0,21,178,10.12,2.40,-4.20,0.000,4,0.239,0.056,2560,3760,3486,0,0,0,0,0,0
$GC,299,-1.03,-116.8,30.0,-13.8,46,306,0.00,2.33,0.00,0.000,6,0.000,0.029,2560,2335,3487,0,0,0,0,0,0
$GC,376,-1.03,-116.8,40.2,-13.4,59,380,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2330,3487,0,0,0,0,0,0
$GC,516,-1.03,-116.8,60.1,-14.6,84,522,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2330,3486,0,0,0,0,0,0
$GC,662,-1.03,-116.8,81.1,-14.7,109,667,0.00,2.38,0.00,0.000,4,0.000,0.044,2550,3763,3487,0,0,0,0,0,0
$GC,697,-1.03,-116.8,86.5,-15.2,115,703,0.00,2.28,0.00,0.000,6,0.000,0.030,2550,2350,3487,0,0,0,0,0,0
$STATE,798,end dive,TARGET_DEPTH_EXCEEDED
$STATE,798,begin apogee
$GC,805,-0.22,0.0,101.7,14.8,133,898,0.95,0.00,88.12,0.963,6,0.153,0.000,2830,2338,3007,0,0,0,0,0,0
$STATE,901,end apogee,CONTROL_FINISHED_OK
$STATE,901,begin climb
$GC,904,1.03,116.8,105.9,0.0,150,1001,1.27,0.00,89.90,0.900,6,0.089,0.000,3234,2338,2530,0,0,0,0,0,0
$GC,1139,1.03,116.8,75.0,15.8,192,1145,0.00,2.38,0.00,0.000,4,0.000,0.044,3234,3722,2528,0,0,0,0,0,0
$GC,1208,1.03,116.8,62.8,18.1,204,1214,0.00,2.35,0.00,0.000,6,0.000,0.031,3245,2321,2528,0,0,0,0,0,0
$GC,1355,1.03,116.8,39.4,16.1,229,1362,0.00,2.40,0.00,0.000,4,0.000,0.044,3245,3727,2527,0,0,0,0,0,0
$GC,1409,1.03,116.8,29.4,17.8,238,1418,0.00,2.35,0.00,0.000,6,0.000,0.033,3256,2310,2527,0,0,0,0,0,0
$GC,1487,1.03,116.8,15.9,16.6,251,1495,0.00,2.40,0.00,0.000,4,0.000,0.044,3256,3726,2527,0,0,0,0,0,0
$GC,1503,1.03,116.8,13.4,15.7,253,1511,0.00,2.33,0.00,0.000,6,0.000,0.033,3267,2321,2527,0,0,0,0,0,0
$GC,1583,1.06,141.0,3.9,8.6,266,1596,0.00,0.00,11.98,0.081,6,0.000,0.000,3267,2316,2432,0,0,0,0,0,0
$STATE,1601,end climb,SURFACE_DEPTH_REACHED
$STATE,1601,begin surface coast
$FINISH,2.4,1.020006
$STATE,1664,end surface coast,CONTROL_FINISHED_OK
$STATE,1664,begin surface
$SM_CCo,1686,113.97,0.075,0,0,1375,400.08
$SM_GC,1.55,0.00,0.00,113.97,0.000,0.000,0.075,146,2312,1375,-8.64,-1.07,400.08
$IRIDIUM_FIX,4748.51,-12219.12,190699,050558
$TT8_MAMPS,0.026078
$HUMID,31.49
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,13.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,75.6,44.7
$24V_AH,24.1,1.421
$10V_AH,10.4,0.710
$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,21.675,23.575,190.000,113.975,0.000,23.614,35.859,165.995,0.500,0.000,42.712,415.258,331.520,332.824,628.529,524.406,33.330,700.732,0.000,704.169,0.000,5.539,0.000
$DEVICE_MAMPS,238.537,55.991,963.352,75.166,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,194.728,472.386,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324304
$DATA_FILE_SIZE,12856,280
$CAP_FILE_SIZE,38322,0
$CFSIZE,260165632,188592128
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250310,063813,4806.671,-12222.933,10,1.6,10,18.3