version: 66.06
glider: 127
mission: 4
dive: 16
start: 2 3 110 10 35 42
data:
$ID,127
$MISSION,4
$DIVE,16
$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,0
$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,-89978.414
$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,25
$R_STBD_OVSHOOT,17
$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,7
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$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
$GPS1,102134,4806.670,-12222.668,15,5.2,34,18.3
$_CALLS,3
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-63.8
$GPS2,103444,4806.547,-12222.620,12,1.1,12,18.3
$SPEED_LIMITS,0.099,0.199
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.111,0.166
$KALMAN_X,155.1,338.3,42.5,63.7,196.6
$KALMAN_Y,-1244.2,-196.1,-303.2,-453.4,-267.3
$MHEAD_RNG_PITCHd_Wd,307.8,3186,-14.6,-6.944
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.18,-107.0,0.0,0.0,0,119,0.00,0.00,-100.07,0.000,2,0.000,0.000,390,2390,3018,0,0,0,0,0,0
$GC,122,-1.18,-107.0,3.7,-4.9,17,162,12.38,2.67,-20.17,0.000,4,0.178,0.099,2493,3812,3957,0,0,0,0,0,0
$GC,214,-1.18,-107.0,12.8,-6.8,34,221,0.00,2.55,0.00,0.000,6,0.000,0.063,2493,2403,3957,0,0,0,0,0,0
$GC,291,-1.18,-107.0,17.3,-5.7,50,297,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2403,3956,0,0,0,0,0,0
$GC,364,-1.18,-107.0,22.7,-7.0,66,371,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2403,3957,0,0,0,0,0,0
$GC,439,-1.18,-107.0,28.5,-7.8,82,445,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2403,3957,0,0,0,0,0,0
$GC,514,-1.18,-107.0,34.0,-7.5,98,520,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2403,3957,0,0,0,0,0,0
$GC,590,-1.18,-107.0,39.6,-7.4,114,597,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2403,3957,0,0,0,0,0,0
$GC,665,-1.18,-107.0,45.5,-7.6,130,672,0.00,2.60,0.00,0.000,4,0.000,0.077,2493,994,3956,0,0,0,0,0,0
$GC,714,-1.18,-107.0,49.4,-7.9,140,721,0.00,2.58,0.00,0.000,6,0.000,0.068,2493,2394,3957,0,0,0,0,0,0
$GC,860,-1.18,-107.0,61.1,-8.3,171,865,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2394,3957,0,0,0,0,0,0
$GC,1002,-1.18,-107.0,72.2,-7.7,202,1008,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2394,3957,0,0,0,0,0,0
$GC,1151,-1.18,-107.0,83.7,-7.8,233,1156,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2394,3957,0,0,0,0,0,0
$GC,1294,-1.18,-107.0,94.6,-7.6,264,1301,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2394,3957,0,0,0,0,0,0
$GC,1440,-1.18,-107.0,105.3,-7.2,295,1445,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2394,3956,0,0,0,0,0,0
$STATE,1574,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1574,begin apogee
$GC,1578,-0.36,0.0,114.6,6.7,324,1672,0.85,0.00,86.75,0.760,6,0.096,0.000,2669,2394,3519,0,0,0,0,0,0
$STATE,1674,end apogee,CONTROL_FINISHED_OK
$STATE,1674,begin climb
$GC,1676,1.18,107.0,116.8,0.0,341,1776,1.60,2.72,86.28,0.749,4,0.074,0.090,3005,3810,3082,0,0,0,0,0,0
$GC,1806,1.18,107.0,109.3,8.1,365,1812,0.00,2.53,0.00,0.000,6,0.000,0.058,3005,2396,3082,0,0,0,0,0,0
$GC,1950,1.18,107.0,97.8,7.7,396,1956,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2395,3081,0,0,0,0,0,0
$GC,2095,1.18,107.0,86.6,7.7,427,2101,0.00,2.65,0.00,0.000,4,0.000,0.092,3005,3811,3081,0,0,0,0,0,0
$GC,2144,1.18,107.0,82.3,8.6,437,2150,0.00,2.53,0.00,0.000,6,0.000,0.059,3005,2389,3081,0,0,0,0,0,0
$GC,2288,1.18,107.0,71.5,7.1,468,2295,0.00,2.65,0.00,0.000,4,0.000,0.081,3005,3800,3081,0,0,0,0,0,0
$GC,2316,1.18,107.0,69.4,7.4,473,2321,0.00,2.50,0.00,0.000,6,0.000,0.063,3005,2390,3081,0,0,0,0,0,0
$GC,2460,1.18,107.0,59.0,7.2,504,2466,0.00,2.67,0.00,0.000,4,0.000,0.091,3005,3809,3081,0,0,0,0,0,0
$GC,2487,1.18,107.0,57.0,7.4,509,2495,0.00,2.53,0.00,0.000,6,0.000,0.069,3005,2383,3081,0,0,0,0,0,0
$GC,2634,1.19,115.1,46.7,6.6,540,2645,0.00,0.00,8.15,0.616,6,0.000,0.000,3005,2383,3049,0,0,0,0,0,0
$GC,2783,1.19,115.1,36.4,7.2,572,2790,0.00,2.55,0.00,0.000,4,0.000,0.072,3005,1000,3049,0,0,0,0,0,0
$GC,2820,1.19,115.1,33.8,7.3,579,2827,0.00,2.55,0.00,0.000,6,0.000,0.064,3005,2397,3049,0,0,0,0,0,0
$GC,2896,1.19,115.1,28.2,7.4,595,2903,0.00,2.65,0.00,0.000,4,0.000,0.084,3005,3809,3049,0,0,0,0,0,0
$GC,2957,1.19,115.1,23.5,7.5,608,2964,0.00,2.53,0.00,0.000,6,0.000,0.060,3005,2400,3049,0,0,0,0,0,0
$GC,3034,1.19,115.1,18.2,7.1,624,3040,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2401,3049,0,0,0,0,0,0
$GC,3107,1.19,115.1,12.8,7.2,640,3114,0.00,2.65,0.00,0.000,4,0.000,0.084,3005,3811,3049,0,0,0,0,0,0
$GC,3143,1.19,115.1,10.1,7.4,647,3149,0.00,2.53,0.00,0.000,6,0.000,0.060,3005,2403,3049,0,0,0,0,0,0
$GC,3220,1.28,193.1,6.6,3.5,663,3291,0.12,2.67,63.00,0.683,4,0.089,0.083,3034,3816,2731,0,0,0,0,0,0
$GC,3329,1.47,344.0,6.4,0.3,682,3363,0.12,2.55,27.30,0.673,2,0.066,0.061,3069,2406,2599,0,0,0,0,0,0
$STATE,3364,end climb,NO_VERTICAL_VELOCITY
$STATE,3364,begin surface
$SM_CCo,3368,374.42,0.660,0,0,494,741.79
$SM_GC,0.86,12.40,0.00,0.00,0.055,0.000,0.000,389,2405,489,-10.83,0.14,743.26
$RAFOS_CLK,223
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12224.57,300499,101025
$TT8_MAMPS,0.02301
$HUMID,33.61
$INTERNAL_PRESSURE,9.08637
$TCM_TEMP,15.90
$XPDR_PINGS,13
$ALTIM_BOTTOM_PING,80.3,41.3
$24V_AH,23.7,2.223
$10V_AH,10.4,1.391
$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,27.475,51.850,271.475,374.425,0.000,76.181,188.051,260.133,3.750,0.000,12.730,1067.420,529.049,712.317,1610.823,717.925,35.349,1393.053,0.000,1617.083,0.000,5.528,0.000
$DEVICE_MAMPS,177.944,98.943,760.097,660.387,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,473.213,477.539,1184.637,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,184804
$DATA_FILE_SIZE,41282,687
$CAP_FILE_SIZE,77991,0
$CFSIZE,260165632,191660032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1482.2
$GPS,030210,114055,4806.824,-12222.926,9,1.1,14,18.3