version: 66.07
glider: 33
mission: 12
dive: 16
start: 4 13 110 9 55 48
data:
$ID,33
$MISSION,12
$DIVE,16
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,4005
$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,75
$T_MISSION,90
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,150
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$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,2
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.5700001e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47
$TGT_DEFAULT_LON,-125
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$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,-210848.52
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,27
$PITCH_MAX,2563
$C_PITCH,1720
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,60
$ROLL_MAX,3837
$ROLL_DEG,15
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,163
$VBD_MAX,3981
$C_VBD,2618
$VBD_DBAND,2
$VBD_CNV,-0.29522699
$VBD_TIMEOUT,950
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,151
$AH0_10V,122.2
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,-6.8056469e+38
$FG_AHR_24V,-6.8056469e+38
$PHONE_SUPPLY,2
$PRESSURE_YINT,-20.378853
$PRESSURE_SLOPE,0.00093601202
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,60
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,1
$DEEPGLIDERMB,1
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,101
$DEVICE4,-1
$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,0.0043575475
$SEABIRD_T_H,0.00062940316
$SEABIRD_T_I,2.4306677e-05
$SEABIRD_T_J,2.6223986e-06
$SEABIRD_C_G,-10.332057
$SEABIRD_C_H,1.2094743
$SEABIRD_C_I,-0.0016192879
$SEABIRD_C_J,0.00021825745
$GPS1,130410,095107,4807.455,-12223.131,35,1.3,35,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-64.6
$GPS2,130410,095455,4807.463,-12223.137,13,1.3,18,18.3
$SPEED_LIMITS,0.067,0.308
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.243,0.189
$KALMAN_X,439.7,-428.3,539.2,-1042.9,412.5
$KALMAN_Y,-834.1,351.6,-593.0,1017.5,-217.6
$MHEAD_RNG_PITCHd_Wd,289.6,1458,-7.7,-6.667
$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,15,-0.84,-293.3,0.0,0.0,0,104,0.00,0.00,-86.53,0.000,2,0.000,0.000,27,1807,1892,0,0,0,0,0,0
$GC,106,-0.84,-293.3,3.0,-2.6,17,233,8.30,0.95,-110.10,0.000,4,0.209,0.127,1530,2321,3612,0,0,1,0,0,0
$GC,355,-0.84,-293.3,20.5,-8.6,63,361,0.00,0.95,0.00,0.000,6,0.000,0.117,1530,1796,3612,0,0,1,0,0,0
$GC,488,-0.84,-293.3,31.9,-8.6,76,492,0.00,0.93,0.00,0.000,4,0.000,0.119,1530,1274,3612,0,0,0,0,0,0
$GC,503,-0.84,-293.3,33.1,-8.7,77,510,0.00,0.93,0.00,0.000,6,0.000,0.107,1530,1796,3612,0,0,1,0,0,0
$GC,636,-0.84,-293.3,44.8,-9.0,90,640,0.00,0.95,0.00,0.000,4,0.000,0.134,1530,2319,3612,0,0,0,0,0,0
$GC,669,-0.84,-293.3,47.8,-9.2,93,673,0.00,0.93,0.00,0.000,6,0.000,0.122,1530,1798,3612,0,0,1,0,0,0
$GC,807,-0.84,-293.3,59.6,-8.7,106,814,0.00,0.95,0.00,0.000,4,0.000,0.134,1530,2312,3612,0,0,0,0,0,0
$GC,888,-0.84,-293.3,66.4,-9.1,113,892,0.00,0.90,0.00,0.000,6,0.000,0.122,1530,1810,3612,0,0,1,0,0,0
$GC,1027,-0.84,-293.3,78.0,-8.7,126,1031,0.00,0.95,0.00,0.000,4,0.000,0.137,1530,2322,3613,0,0,0,0,0,0
$GC,1105,-0.84,-293.3,84.9,-8.5,133,1109,0.00,0.93,0.00,0.000,6,0.000,0.122,1530,1807,3612,0,0,1,0,0,0
$GC,1243,-0.84,-293.3,96.2,-8.5,146,1247,0.00,0.93,0.00,0.000,4,0.000,0.137,1530,2315,3612,0,0,1,0,0,0
$GC,1314,-0.84,-293.3,102.1,-8.5,152,1321,0.00,0.95,0.00,0.000,6,0.000,0.119,1530,1793,3612,0,0,1,0,0,0
$GC,1447,-0.84,-293.3,112.6,-7.6,165,1451,0.00,0.98,0.00,0.000,4,0.000,0.134,1530,2321,3612,0,0,0,0,0,0
$GC,1544,-0.84,-293.3,120.2,-8.3,173,1549,0.00,0.93,0.00,0.000,6,0.000,0.122,1530,1803,3612,0,0,1,0,0,0
$GC,1677,-0.84,-293.3,120.8,-0.1,186,1680,0.00,0.93,0.00,0.000,4,0.000,0.122,1530,1277,3612,0,0,0,0,0,0
$GC,1935,-0.84,-293.3,120.9,-0.7,209,1938,0.00,0.90,0.00,0.000,6,0.000,0.109,1530,1793,3612,0,0,1,0,0,0
$STATE,1944,end dive,NO_VERTICAL_VELOCITY
$STATE,1944,begin apogee
$GC,1947,-0.31,0.0,120.6,0.0,210,2162,0.52,0.00,210.43,0.891,6,0.104,0.000,1652,1800,2618,0,0,0,0,0,0
$STATE,2163,end apogee,CONTROL_FINISHED_OK
$STATE,2163,begin climb
$GC,2164,0.84,293.3,120.8,0.0,231,2386,1.10,1.02,211.18,0.857,4,0.097,0.129,1900,2324,1624,0,0,1,0,0,0
$GC,2435,0.84,293.3,105.2,9.4,257,2441,0.00,0.98,0.00,0.000,6,0.000,0.112,1900,1797,1624,0,0,1,0,0,0
$GC,2568,0.84,293.3,92.5,9.0,270,2572,0.00,0.93,0.00,0.000,4,0.000,0.119,1900,1280,1624,0,0,0,0,0,0
$GC,2702,0.84,293.3,79.9,8.6,282,2706,0.00,0.93,0.00,0.000,6,0.000,0.109,1900,1800,1624,0,0,1,0,0,0
$GC,2840,0.84,293.3,67.8,8.4,295,2844,0.00,0.95,0.00,0.000,4,0.000,0.119,1901,1278,1624,0,0,0,0,0,0
$GC,2912,0.84,293.3,61.2,9.2,301,2918,0.00,0.95,0.00,0.000,6,0.000,0.107,1900,1806,1624,0,0,1,0,0,0
$GC,3045,0.84,293.3,49.6,8.8,314,3046,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,1808,1624,0,0,0,0,0,0
$GC,3172,0.84,293.3,39.2,7.8,326,3176,0.00,0.98,0.00,0.000,4,0.000,0.122,1900,1272,1624,0,0,0,0,0,0
$GC,3284,0.84,293.3,29.8,8.9,336,3288,0.00,0.93,0.00,0.000,6,0.000,0.112,1900,1798,1624,0,0,1,0,0,0
$GC,3418,0.84,293.3,19.1,8.3,349,3422,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,1802,1624,0,0,0,0,0,0
$GC,3489,0.84,293.3,13.4,7.9,362,3495,0.00,0.95,0.00,0.000,4,0.000,0.122,1900,1276,1624,0,0,0,0,0,0
$GC,3545,0.84,293.3,9.3,7.7,372,3551,0.00,0.93,0.00,0.000,6,0.000,0.112,1900,1799,1624,0,0,1,0,0,0
$GC,3618,0.99,409.7,4.9,4.9,385,3645,0.15,0.00,24.02,0.792,2,0.097,0.000,1948,1805,1513,0,0,0,0,0,0
$STATE,3646,end climb,SURFACE_DEPTH_REACHED
$STATE,3646,begin surface coast
$FINISH,1.6,1.018500
$STATE,3757,end surface coast,CONTROL_FINISHED_OK
$STATE,3757,begin surface
$SM_CCo,3771,121.57,0.797,0,0,924,500.11
$SM_GC,1.52,0.00,0.00,121.57,0.000,0.000,0.797,22,1805,924,-7.81,0.14,500.11
$IRIDIUM_FIX,4748.51,-12229.01,071011,030347
$TT8_MAMPS,0.021721
$HUMID,1077994184
$INTERNAL_PRESSURE,8.20344
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.6
$24V_AH,23.8,52.735
$10V_AH,10.3,10.979
$FG_AHR_24Vo,-680564693277057719623408366969033850880.000
$FG_AHR_10Vo,-680564693277057719623408366969033850880.000
$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,18.150,24.475,445.625,121.575,0.000,22.453,31.174,100.248,2.750,0.000,18.831,648.035,1766.615,680.783,995.790,43.775,33.315,1187.413,0.000,759.442,0.000,21.722,0.000
$DEVICE_MAMPS,208.572,136.565,891.397,797.043,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,271.466,0.000,625.096,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323540
$DATA_FILE_SIZE,20207,410
$CAP_FILE_SIZE,64268,0
$CFSIZE,260280320,256405504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,130410,110146,4807.664,-12223.359,12,2.2,31,18.3