version: 66.06
glider: 140
mission: 8
dive: 452
start: 1 30 110 6 46 32
data:
$ID,140
$MISSION,8
$DIVE,452
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,200
$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,480
$T_MISSION,540
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,51390
$NAV_MODE,2
$FERRY_MAX,0
$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,5900
$TGT_DEFAULT_LON,-2030
$TGT_AUTO_DEFAULT,0
$SM_CC,602.45679
$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,-328175
$T_RSLEEP,5
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,214
$PITCH_MAX,3926
$C_PITCH,2765
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,174
$ROLL_MAX,4054
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2650
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,85
$R_STBD_OVSHOOT,47
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0.025
$VBD_MIN,550
$VBD_MAX,3938
$C_VBD,3006
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$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,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-16.173029
$PRESSURE_SLOPE,0.0001158875
$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,8
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$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,0.0044206623
$SEABIRD_T_H,0.00065338978
$SEABIRD_T_I,2.7511465e-05
$SEABIRD_T_J,3.0433071e-06
$SEABIRD_C_G,-10.080298
$SEABIRD_C_H,1.1283234
$SEABIRD_C_I,-0.0013448599
$SEABIRD_C_J,0.00017661104
$GPS1,061850,6350.368,223.979,901,99.0,901,-3.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-64.0
$GPS2,061850,6350.368,223.979,901,99.0,901,-3.7
$SPEED_LIMITS,0.119,0.206
$TGT_NAME,INSHORE
$TGT_LATLONG,6300.600,352.100
$TGT_RADIUS,4000.000
$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,144.9,118241,-13.7,-6.875
$D_GRID,1488
$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,16,-0.80,-116.7,0.0,0.0,0,136,0.00,0.00,-117.28,0.000,2,0.000,0.000,220,2260,2794,0,0,0,0,0,0
$GC,142,-0.80,-116.7,3.0,-0.4,21,188,9.18,2.05,-28.10,0.000,4,0.245,0.051,2500,922,3483,0,0,0,0,0,0
$GC,439,-0.43,-116.7,39.9,-14.1,74,446,0.40,2.10,0.00,0.000,6,0.183,0.029,2617,2310,3483,0,0,0,0,0,0
$GC,781,-0.35,-116.7,66.9,-7.8,135,787,0.12,2.10,0.00,0.000,4,0.202,0.036,2650,926,3483,0,0,0,0,0,0
$GC,796,-0.28,-116.7,67.9,-7.4,137,802,0.00,2.03,0.00,0.000,6,0.000,0.028,2650,2310,3484,0,0,0,0,0,0
$GC,1141,-0.47,-116.7,89.7,-6.4,198,1146,0.12,0.00,0.00,0.000,6,0.128,0.000,2604,2310,3484,0,0,0,0,0,0
$STATE,1328,end dive,NO_VERTICAL_VELOCITY
$STATE,1328,begin apogee
$GC,1335,-0.24,0.0,92.4,0.0,232,1429,0.25,0.00,90.43,0.808,6,0.132,0.000,2692,2650,3006,0,0,0,0,0,0
$STATE,1432,end apogee,CONTROL_FINISHED_OK
$STATE,1432,begin climb
$GC,1435,0.80,116.7,92.3,0.0,250,1539,1.00,2.22,90.65,0.763,4,0.128,0.041,3007,4033,2528,0,0,0,0,0,0
$GC,1609,0.91,179.2,87.1,4.4,281,1668,0.15,2.03,49.45,0.752,6,0.105,0.022,3062,2622,2274,0,0,0,0,0,0
$GC,2007,0.98,181.3,61.4,6.8,352,2014,0.00,2.20,0.00,0.000,4,0.000,0.041,3062,4040,2268,0,0,0,0,0,0
$GC,2181,0.98,181.3,49.3,7.2,383,2187,0.00,1.95,0.00,0.000,6,0.000,0.022,3070,2668,2267,0,0,0,0,0,0
$GC,2520,1.04,181.3,26.2,7.0,444,2526,0.00,2.08,0.00,0.000,4,0.000,0.035,3070,1285,2267,0,0,0,0,0,0
$GC,2601,1.08,187.9,20.8,6.6,458,2613,0.08,2.05,7.25,0.736,6,0.091,0.030,3107,2644,2240,0,0,0,0,0,0
$STATE,2844,end climb,SURFACE_DEPTH_REACHED
$STATE,2844,begin surface coast
$FINISH,1.8,1.008941
$STATE,2909,end surface coast,CONTROL_FINISHED_OK
$STATE,2909,begin surface
$SM_CCo,2928,323.98,0.706,0,0,549,602.46
$SM_GC,2.47,0.00,0.00,323.98,0.000,0.000,0.706,216,2290,549,-7.97,-0.28,602.46
$IRIDIUM_FIX,6322.64,221.33,260399,060628
$TT8_MAMPS,0.027612
$HUMID,1078341281
$INTERNAL_PRESSURE,8.22297
$TCM_TEMP,14.50
$XPDR_PINGS,14
$24V_AH,23.9,74.259
$10V_AH,9.7,53.282
$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,19.750,21.750,237.775,323.975,0.000,164.216,140.966,0.000,3.500,0.000,903.696,869.837,1037.715,621.394,1894.786,470.036,0.000,1085.152,0.000,1004.918,0.000,0.537,0.000
$DEVICE_MAMPS,244.673,50.622,808.418,705.640,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,346.191,403.691,504.384,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235300
$DATA_FILE_SIZE,28646,513
$CAP_FILE_SIZE,50796,0
$CFSIZE,260165632,216317952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.000,129.2,1
$GPS,301209,061850,6350.368,223.979,901,99.0,901,-3.7