version: 66.06
glider: 140
mission: 8
dive: 499
start: 2 3 110 8 13 41
data:
$ID,140
$MISSION,8
$DIVE,499
$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,-413165.91
$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,73
$R_STBD_OVSHOOT,50
$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,2.73
$_SM_ANGLEo,-66.7
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.80,-116.7,0.0,0.0,0,75,0.00,0.00,-56.28,0.000,2,0.000,0.000,219,2281,1647,0,0,0,0,0,0
$GC,78,-0.80,-116.7,3.0,-0.5,10,202,9.38,0.00,-104.97,0.000,6,0.244,0.000,2500,2282,3482,0,0,0,0,0,0
$GC,536,-0.44,-116.7,55.2,-15.2,91,542,0.40,0.00,0.00,0.000,6,0.199,0.000,2613,2282,3483,0,0,0,0,0,0
$GC,877,-0.32,-116.7,89.6,-8.6,152,884,0.15,0.00,0.00,0.000,6,0.195,0.000,2653,2282,3483,0,0,0,0,0,0
$GC,1222,-0.32,-116.7,114.9,-7.4,213,1228,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2282,3483,0,0,0,0,0,0
$GC,1547,-0.42,-116.7,136.9,-6.3,238,1548,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2282,3483,0,0,0,0,0,0
$GC,1855,-0.63,-116.7,156.8,-6.3,253,1860,0.25,2.05,0.00,0.000,4,0.099,0.032,2555,914,3483,0,0,0,0,0,0
$GC,1918,-0.49,-116.7,161.8,-8.1,256,1923,0.17,2.05,0.00,0.000,6,0.196,0.028,2598,2307,3483,0,0,0,0,0,0
$GC,2253,-0.38,-116.7,187.4,-8.0,272,2257,0.15,2.12,0.00,0.000,4,0.201,0.034,2638,907,3484,0,0,0,0,0,0
$GC,2309,-0.34,-116.7,191.8,-7.1,274,2316,0.00,2.08,0.00,0.000,6,0.000,0.027,2638,2296,3484,0,0,0,0,0,0
$GC,2625,-0.52,-116.7,213.4,-7.2,290,2630,0.12,2.10,0.00,0.000,4,0.132,0.039,2592,3698,3484,0,0,0,0,0,0
$GC,2735,-0.58,-116.7,221.3,-7.5,295,2739,0.00,2.00,0.00,0.000,6,0.000,0.022,2592,2294,3484,0,0,0,0,0,0
$GC,3069,-0.67,-116.7,244.2,-6.4,311,3073,0.12,2.05,0.00,0.000,4,0.119,0.035,2547,912,3485,0,0,0,0,0,0
$GC,3085,-0.67,-116.7,245.5,-6.7,311,3092,0.00,2.08,0.00,0.000,6,0.000,0.028,2546,2310,3484,0,0,0,0,0,0
$GC,3401,-0.46,-116.7,274.1,-9.9,327,3406,0.25,2.10,0.00,0.000,4,0.186,0.031,2620,916,3485,0,0,0,0,0,0
$GC,3435,-0.39,-116.7,277.1,-8.8,328,3440,0.00,2.03,0.00,0.000,6,0.000,0.028,2620,2300,3485,0,0,0,0,0,0
$GC,3752,-0.57,-116.7,297.8,-4.8,344,3756,0.12,2.10,0.00,0.000,4,0.124,0.035,2577,913,3485,0,0,0,0,0,0
$STATE,3891,end dive,NO_VERTICAL_VELOCITY
$STATE,3891,begin apogee
$GC,3901,-0.24,0.0,297.8,0.0,350,3999,0.32,0.00,95.05,0.960,6,0.133,0.000,2685,2646,3006,0,0,0,0,0,0
$STATE,4000,end apogee,CONTROL_FINISHED_OK
$STATE,4000,begin climb
$GC,4003,0.80,116.7,298.0,0.0,355,4107,1.08,2.20,94.00,0.911,4,0.140,0.031,3014,1264,2529,0,0,0,0,0,0
$GC,4232,0.91,183.5,292.9,4.2,365,4293,0.12,2.10,53.92,0.899,6,0.110,0.030,3060,2656,2257,0,0,0,0,0,0
$GC,4616,0.97,183.5,267.0,7.3,384,4620,0.00,2.08,0.00,0.000,4,0.000,0.032,3069,1268,2251,0,0,0,0,0,0
$GC,4684,0.97,183.5,262.1,7.1,387,4688,0.00,2.08,0.00,0.000,6,0.000,0.029,3069,2662,2250,0,0,0,0,0,0
$GC,5011,1.02,183.5,239.2,7.1,403,5015,0.00,2.08,0.00,0.000,4,0.000,0.033,3070,1270,2250,0,0,0,0,0,0
$GC,5159,1.02,183.5,229.4,6.9,409,5165,0.00,2.08,0.00,0.000,6,0.000,0.030,3070,2661,2249,0,0,0,0,0,0
$GC,5475,1.02,186.8,207.9,6.7,425,5478,0.00,2.08,0.00,0.000,4,0.000,0.042,3070,4043,2249,0,0,0,0,0,0
$GC,5732,0.97,186.8,187.9,7.5,436,5739,0.00,2.03,0.00,0.000,6,0.000,0.023,3070,2649,2249,0,0,0,0,0,0
$GC,6049,0.97,186.8,167.1,7.0,452,6052,0.00,2.03,0.00,0.000,4,0.000,0.034,3070,1273,2249,0,0,0,0,0,0
$GC,6239,0.98,196.2,154.2,6.5,460,6255,0.00,2.05,10.70,0.860,6,0.000,0.029,3070,2655,2206,0,0,0,0,0,0
$GC,6582,1.05,212.8,132.6,6.2,477,6604,0.00,2.12,15.50,0.831,4,0.000,0.040,3070,4046,2137,0,0,0,0,0,0
$GC,6859,1.06,217.4,114.9,6.7,499,6872,0.10,2.03,5.20,0.700,6,0.128,0.023,3108,2625,2119,0,0,0,0,0,0
$GC,7211,1.06,217.4,89.0,7.8,561,7217,0.00,2.17,0.00,0.000,4,0.000,0.041,3107,4047,2118,0,0,0,0,0,0
$GC,7469,0.98,217.4,67.2,8.0,607,7475,0.00,2.00,0.00,0.000,6,0.000,0.023,3111,2656,2117,0,0,0,0,0,0
$GC,7808,0.98,217.4,43.2,7.0,668,7814,0.00,2.15,0.00,0.000,4,0.000,0.041,3111,4040,2117,0,0,0,0,0,0
$GC,8065,0.92,217.4,23.3,7.7,714,8072,0.15,2.03,0.00,0.000,6,0.164,0.023,3064,2640,2117,0,0,0,0,0,0
$STATE,8387,end climb,SURFACE_DEPTH_REACHED
$STATE,8387,begin surface coast
$FINISH,2.0,1.012935
$STATE,8473,end surface coast,CONTROL_FINISHED_OK
$STATE,8473,begin surface
$SM_CCo,8493,307.15,0.726,0,0,549,602.46
$SM_GC,2.80,0.00,0.00,307.15,0.000,0.000,0.726,220,2281,549,-7.96,-0.54,602.46
$IRIDIUM_FIX,6322.64,221.33,260399,060628
$TT8_MAMPS,0.027612
$HUMID,1078333539
$INTERNAL_PRESSURE,8.19367
$TCM_TEMP,13.70
$XPDR_PINGS,8
$24V_AH,23.4,80.620
$10V_AH,9.7,58.366
$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,21.225,59.075,274.375,307.150,0.000,167.570,141.141,0.000,2.000,0.000,903.966,1504.986,5008.524,701.976,2686.677,585.969,0.000,1504.936,0.000,1779.524,0.000,0.536,0.000
$DEVICE_MAMPS,243.906,42.185,960.284,726.349,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,538.076,668.334,644.375,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235324
$DATA_FILE_SIZE,44274,787
$CAP_FILE_SIZE,96192,0
$CFSIZE,260165632,213585920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.000,103.7,1
$GPS,301209,061850,6350.368,223.979,901,99.0,901,-3.7