version: 66.06
glider: 127
mission: 4
dive: 8
start: 2 3 110 1 4 8
data:
$ID,127
$MISSION,4
$DIVE,8
$D_SURF,5
$D_FLARE,3
$D_TGT,150
$D_ABORT,1050
$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,72
$T_MISSION,85
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$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,110
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.028
$MASS,51963
$NAV_MODE,1
$FERRY_MAX,30
$KALMAN_USE,1
$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,61.083332
$TGT_DEFAULT_LON,5.541666
$TGT_AUTO_DEFAULT,0
$SM_CC,580
$N_FILEKB,8
$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,-89781.133
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,391
$PITCH_MAX,3672
$C_PITCH,2754
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,13
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,495
$VBD_MAX,3955
$C_VBD,3519
$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,0
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-0.73934883
$PRESSURE_SLOPE,9.1981688e-05
$AD7714Ch0Gain,64
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.84
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,39
$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,0
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043796767
$SEABIRD_T_H,0.0006479047
$SEABIRD_T_I,2.756399e-05
$SEABIRD_T_J,3.1320253e-06
$SEABIRD_C_G,-9.9973803
$SEABIRD_C_H,1.1261299
$SEABIRD_C_I,-0.00079766312
$SEABIRD_C_J,0.00013692185
$GPS1,005554,4806.496,-12222.575,40,1.3,40,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-66.8
$GPS2,010308,4806.492,-12222.578,12,1.4,12,18.3
$SPEED_LIMITS,0.099,0.199
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.114,-0.164
$KALMAN_X,-630.3,-328.3,-45.2,1657.2,-29.1
$KALMAN_Y,-57.3,9.7,-30.9,-2227.6,95.3
$MHEAD_RNG_PITCHd_Wd,127.0,1159,-14.6,-6.944
$D_GRID,105
$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,-1.18,-107.0,0.0,0.0,0,88,0.00,0.00,-70.72,0.000,2,0.000,0.000,390,2401,2931,0,0,0,0,0,0
$GC,91,-1.18,-107.0,3.2,-4.4,12,135,12.62,2.62,-22.90,0.000,4,0.188,0.090,2488,994,3958,0,0,0,0,0,0
$GC,388,-1.18,-107.0,26.7,-7.8,76,395,0.00,2.60,0.00,0.000,6,0.000,0.079,2487,2400,3959,0,0,0,0,0,0
$GC,462,-1.18,-107.0,32.3,-7.4,92,469,0.00,2.58,0.00,0.000,4,0.000,0.072,2488,1004,3959,0,0,0,0,0,0
$GC,567,-1.18,-107.0,40.9,-8.1,115,573,0.00,2.55,0.00,0.000,6,0.000,0.079,2488,2404,3959,0,0,0,0,0,0
$GC,711,-1.18,-107.0,52.3,-7.4,146,718,0.00,2.62,0.00,0.000,4,0.000,0.085,2488,3799,3959,0,0,0,0,0,0
$GC,757,-1.18,-107.0,55.8,-8.0,155,763,0.00,2.50,0.00,0.000,6,0.000,0.066,2488,2392,3958,0,0,0,0,0,0
$GC,901,-1.18,-107.0,66.7,-7.5,186,907,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2393,3959,0,0,0,0,0,0
$GC,1047,-1.18,-107.0,77.7,-7.5,217,1053,0.00,2.55,0.00,0.000,4,0.000,0.077,2488,991,3958,0,0,0,0,0,0
$GC,1089,-1.18,-107.0,81.1,-7.8,225,1095,0.00,2.58,0.00,0.000,6,0.000,0.071,2487,2407,3958,0,0,0,0,0,0
$GC,1237,-1.18,-107.0,92.3,-7.4,256,1244,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2407,3959,0,0,0,0,0,0
$GC,1382,-1.18,-107.0,102.4,-7.0,287,1388,0.00,2.58,0.00,0.000,4,0.000,0.071,2488,993,3958,0,0,0,0,0,0
$STATE,1420,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1421,begin apogee
$GC,1429,-0.36,0.0,105.2,6.8,295,1521,0.90,0.00,86.57,0.746,6,0.098,0.000,2672,2401,3519,0,0,0,0,0,0
$STATE,1523,end apogee,CONTROL_FINISHED_OK
$STATE,1524,begin climb
$GC,1525,1.18,107.0,107.4,0.0,312,1618,1.58,0.00,85.60,0.728,6,0.075,0.000,3004,2402,3081,0,0,0,0,0,0
$GC,1758,1.18,107.5,93.6,6.9,359,1765,0.00,2.60,0.00,0.000,4,0.000,0.081,3004,3806,3081,0,0,0,0,0,0
$GC,1790,1.18,107.5,91.2,7.2,365,1796,0.00,2.50,0.00,0.000,6,0.000,0.064,3004,2398,3081,0,0,0,0,0,0
$GC,1934,1.18,107.5,80.8,7.3,396,1940,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2398,3081,0,0,0,0,0,0
$GC,2079,1.18,107.5,70.2,7.6,427,2084,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2399,3081,0,0,0,0,0,0
$GC,2221,1.18,107.5,59.3,7.5,458,2229,0.00,2.65,0.00,0.000,4,0.000,0.081,3004,3811,3081,0,0,0,0,0,0
$GC,2279,1.18,107.5,54.6,8.0,470,2286,0.00,2.53,0.00,0.000,6,0.000,0.059,3004,2403,3081,0,0,0,0,0,0
$GC,2426,1.18,107.5,43.9,7.4,501,2432,0.00,2.62,0.00,0.000,4,0.000,0.081,3004,3813,3081,0,0,0,0,0,0
$GC,2519,1.18,107.5,36.5,7.9,521,2526,0.00,2.53,0.00,0.000,6,0.000,0.059,3004,2403,3081,0,0,0,0,0,0
$GC,2595,1.18,110.4,31.2,6.8,537,2602,0.00,0.00,4.45,0.502,6,0.000,0.000,3004,2403,3068,0,0,0,0,0,0
$GC,2671,1.18,110.4,25.9,7.3,553,2677,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2403,3068,0,0,0,0,0,0
$GC,2746,1.18,110.4,20.4,7.1,569,2753,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2403,3067,0,0,0,0,0,0
$GC,2820,1.20,126.4,15.3,6.2,585,2840,0.00,0.00,14.50,0.654,6,0.000,0.000,3004,2403,3003,0,0,0,0,0,0
$GC,2909,1.23,148.5,9.9,6.0,603,2935,0.00,2.60,18.98,0.654,4,0.000,0.071,3004,995,2912,0,0,0,0,0,0
$GC,3187,1.40,286.3,6.5,0.9,664,3208,0.20,2.58,14.65,0.650,2,0.061,0.066,3064,2403,2843,0,0,0,0,0,0
$STATE,3208,end climb,NO_VERTICAL_VELOCITY
$STATE,3209,begin surface
$SM_CCo,3212,405.17,0.637,0,0,494,741.79
$SM_GC,0.86,12.38,0.00,0.00,0.055,0.000,0.000,389,2406,490,-10.84,0.20,743.01
$RAFOS_CLK,194
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12221.84,290499,232348
$TT8_MAMPS,0.02301
$HUMID,33.46
$INTERNAL_PRESSURE,9.08637
$TCM_TEMP,15.90
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,90.2,34.2
$24V_AH,23.7,1.211
$10V_AH,10.4,0.703
$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,27.675,46.375,224.750,405.175,0.000,30.473,26.697,234.067,3.250,0.000,12.569,1049.083,379.529,684.307,1583.505,460.092,35.362,1300.311,0.000,1589.786,0.000,11.680,0.000
$DEVICE_MAMPS,187.915,89.739,745.524,637.377,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,460.004,481.506,1194.738,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,184856
$DATA_FILE_SIZE,38127,667
$CAP_FILE_SIZE,70202,0
$CFSIZE,260165632,192028672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1481.7
$GPS,030210,020713,4806.403,-12222.327,8,1.7,13,18.3