version: 66.06
glider: 140
mission: 8
dive: 504
start: 2 3 110 23 32 32
data:
$ID,140
$MISSION,8
$DIVE,504
$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,-422210.19
$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,76
$R_STBD_OVSHOOT,48
$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,2.83
$_SM_ANGLEo,-63.2
$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,-116.7,0.0,0.0,0,58,0.00,0.00,-40.35,0.000,2,0.000,0.000,217,2281,1360,0,0,0,0,0,0
$GC,62,-0.80,-116.7,3.0,-0.7,7,207,9.45,2.12,-123.35,0.000,4,0.247,0.051,2499,925,3482,0,0,0,0,0,0
$GC,215,-0.83,-116.7,2.7,-0.8,33,221,0.00,2.03,0.00,0.000,6,0.000,0.029,2499,2307,3483,0,0,0,0,0,0
$GC,551,-0.48,-116.7,55.0,-16.6,94,559,0.35,2.15,0.00,0.000,4,0.199,0.032,2599,916,3483,0,0,0,0,0,0
$GC,674,-0.29,-116.7,70.5,-11.3,115,681,0.25,2.03,0.00,0.000,6,0.186,0.028,2668,2301,3483,0,0,0,0,0,0
$GC,1019,-0.50,-116.7,94.8,-6.7,176,1026,0.20,2.12,0.00,0.000,4,0.109,0.032,2596,918,3483,0,0,0,0,0,0
$GC,1066,-0.50,-116.7,98.4,-7.7,184,1073,0.00,2.08,0.00,0.000,6,0.000,0.028,2596,2301,3483,0,0,0,0,0,0
$GC,1411,-0.50,-116.7,124.8,-7.7,237,1412,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2301,3482,0,0,0,0,0,0
$GC,1718,-0.57,-116.7,146.6,-6.9,252,1722,0.00,2.08,0.00,0.000,4,0.000,0.034,2596,918,3483,0,0,0,0,0,0
$GC,1788,-0.57,-116.7,151.3,-7.0,255,1792,0.00,2.05,0.00,0.000,6,0.000,0.028,2596,2314,3483,0,0,0,0,0,0
$GC,2123,-0.65,-116.7,176.9,-8.0,271,2128,0.12,2.12,0.00,0.000,4,0.127,0.034,2553,909,3483,0,0,0,0,0,0
$GC,2365,-0.39,-116.7,202.8,-11.9,282,2370,0.30,2.05,0.00,0.000,6,0.190,0.028,2633,2312,3482,0,0,0,0,0,0
$GC,2694,-0.48,-116.7,225.7,-6.4,298,2698,0.00,2.10,0.00,0.000,4,0.000,0.034,2634,913,3483,0,0,0,0,0,0
$GC,2729,-0.62,-116.7,228.2,-6.8,299,2734,0.20,2.03,0.00,0.000,6,0.107,0.028,2565,2300,3483,0,0,0,0,0,0
$GC,3045,-0.62,-116.7,251.7,-7.5,314,3049,0.00,2.10,0.00,0.000,4,0.000,0.041,2565,3695,3483,0,0,0,0,0,0
$GC,3073,-0.58,-116.7,253.7,-6.6,315,3077,0.00,2.00,0.00,0.000,6,0.000,0.022,2565,2292,3483,0,0,0,0,0,0
$GC,3397,-0.68,-116.7,271.5,-2.0,331,3401,0.00,2.03,0.00,0.000,4,0.000,0.034,2565,919,3484,0,0,0,0,0,0
$STATE,3523,end dive,NO_VERTICAL_VELOCITY
$STATE,3523,begin apogee
$GC,3533,-0.24,0.0,271.6,0.0,336,3630,0.38,0.00,94.43,0.946,6,0.151,0.000,2682,2639,3006,0,0,0,0,0,0
$STATE,3631,end apogee,CONTROL_FINISHED_OK
$STATE,3631,begin climb
$GC,3635,0.80,116.7,271.7,0.0,341,3739,1.08,2.25,93.57,0.897,4,0.142,0.040,3008,4041,2529,0,0,0,0,0,0
$GC,3918,0.87,181.1,260.4,4.3,353,3978,0.10,2.03,52.10,0.883,6,0.133,0.022,3048,2622,2266,0,0,0,0,0,0
$GC,4294,0.97,183.6,237.3,6.8,372,4298,0.00,1.98,0.00,0.000,4,0.000,0.033,3055,1291,2260,0,0,0,0,0,0
$GC,4408,1.03,190.7,229.9,6.6,377,4423,0.12,2.05,8.50,0.841,6,0.120,0.030,3102,2665,2227,0,0,0,0,0,0
$GC,4742,1.03,190.7,204.8,7.5,393,4746,0.00,2.08,0.00,0.000,4,0.000,0.041,3102,4045,2226,0,0,0,0,0,0
$GC,4783,0.90,190.7,201.4,7.9,395,4788,0.20,1.98,0.00,0.000,6,0.183,0.023,3057,2653,2225,0,0,0,0,0,0
$GC,5114,0.99,205.4,180.5,6.3,411,5135,0.00,2.08,13.60,0.860,4,0.000,0.034,3057,1290,2168,0,0,0,0,0,0
$GC,5186,1.08,207.8,175.5,6.8,414,5191,0.17,2.05,0.00,0.000,6,0.099,0.030,3123,2658,2166,0,0,0,0,0,0
$GC,5507,1.08,207.8,151.5,7.3,430,5511,0.00,2.08,0.00,0.000,4,0.000,0.041,3123,4039,2165,0,0,0,0,0,0
$GC,5574,0.98,207.8,145.9,8.4,433,5579,0.15,1.98,0.00,0.000,6,0.186,0.023,3086,2653,2165,0,0,0,0,0,0
$GC,5899,1.04,207.8,122.5,7.6,449,5902,0.00,2.03,0.00,0.000,4,0.000,0.033,3086,1275,2165,0,0,0,0,0,0
$GC,5996,1.09,211.1,115.4,6.7,460,6008,0.00,2.10,6.10,0.757,6,0.000,0.030,3086,2654,2144,0,0,0,0,0,0
$GC,6346,1.16,214.7,91.1,6.7,522,6358,0.15,2.08,4.82,0.679,4,0.108,0.034,3142,1279,2130,0,0,0,0,0,0
$GC,6435,1.11,216.3,85.0,6.8,537,6441,0.00,2.05,0.00,0.000,6,0.000,0.030,3142,2655,2129,0,0,0,0,0,0
$GC,6780,1.07,229.3,62.4,6.4,598,6802,0.12,2.17,13.52,0.805,4,0.189,0.041,3109,4047,2070,0,0,0,0,0,0
$GC,6986,1.07,229.3,45.9,7.7,635,6991,0.00,2.00,0.00,0.000,6,0.000,0.023,3112,2659,2067,0,0,0,0,0,0
$GC,7320,1.12,267.6,27.0,5.3,696,7362,0.00,2.15,32.33,0.786,4,0.000,0.036,3112,1272,1914,0,0,0,0,0,0
$GC,7427,1.24,332.6,21.3,4.3,714,7491,0.12,2.12,53.33,0.755,6,0.080,0.030,3165,2649,1647,0,0,0,0,0,0
$STATE,7648,end climb,SURFACE_DEPTH_REACHED
$STATE,7648,begin surface coast
$FINISH,2.2,1.026542
$STATE,7689,end surface coast,CONTROL_FINISHED_OK
$STATE,7689,begin surface
$SM_CCo,7710,213.23,0.726,0,0,549,602.46
$SM_GC,2.78,0.00,0.00,213.23,0.000,0.000,0.726,221,2280,549,-7.95,-0.57,602.46
$IRIDIUM_FIX,6322.64,221.33,260399,060628
$TT8_MAMPS,0.027612
$HUMID,1078387732
$INTERNAL_PRESSURE,8.18391
$TCM_TEMP,14.20
$XPDR_PINGS,12
$24V_AH,23.5,81.345
$10V_AH,9.7,58.987
$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,22.200,71.425,372.300,213.225,0.000,167.626,140.942,0.000,3.000,0.000,904.989,1444.060,4331.998,678.622,2569.631,593.605,0.000,1465.629,0.000,1669.859,0.000,0.536,0.000
$DEVICE_MAMPS,246.974,50.622,946.478,726.349,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,518.369,630.559,641.842,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235324
$DATA_FILE_SIZE,44348,761
$CAP_FILE_SIZE,97240,0
$CFSIZE,260165632,213217280
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.000,132.1,1
$GPS,301209,061850,6350.368,223.979,901,99.0,901,-3.7