version: 66.07
glider: 500
mission: 4
dive: 208
start: 8 4 110 14 34 27
data:
$ID,500
$MISSION,4
$DIVE,208
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1025
$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,388
$T_MISSION,450
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51642
$NAV_MODE,1
$FERRY_MAX,45
$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,2112
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,375
$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,0
$CAPMAXSIZE,250000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-113009.06
$T_RSLEEP,4
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,157
$PITCH_MAX,3893
$C_PITCH,2890
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,213
$ROLL_MAX,3849
$ROLL_DEG,45
$C_ROLL_DIVE,2031
$C_ROLL_CLIMB,2031
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,2822
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-65.916748
$PRESSURE_SLOPE,0.00011603366
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,6
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,5
$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,0.0042834957
$SEABIRD_T_H,0.0006203251
$SEABIRD_T_I,2.2469603e-05
$SEABIRD_T_J,2.3267601e-06
$SEABIRD_C_G,-9.868659
$SEABIRD_C_H,1.1169316
$SEABIRD_C_I,0.00023590792
$SEABIRD_C_J,7.8038953e-05
$GPS1,040810,142455,2113.158,-15754.172,37,1.2,38,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-70.0
$GPS2,040810,143331,2113.150,-15754.184,9,1.2,14,9.8
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,HOME2
$TGT_LATLONG,2116.430,-15753.630
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.159,0.156
$KALMAN_X,-214253.9,754.1,775.6,432294.7,-11503.0
$KALMAN_Y,165523.5,770.8,162.2,-82828.9,-6188.1
$MHEAD_RNG_PITCHd_Wd,35.7,6149,-17.0,-8.505
$D_GRID,990
$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,-0.71,-116.8,0.0,0.0,0,64,0.00,0.00,-45.75,0.000,2,0.000,0.000,125,2036,2514,0,0,0,0,0,0
$GC,66,-0.71,-116.8,3.0,-4.0,9,103,10.07,2.35,-20.02,0.000,4,0.229,0.052,2641,3621,3302,0,0,0,0,0,0
$GC,149,-0.71,-116.8,14.5,-16.7,24,154,0.00,2.30,0.00,0.000,6,0.000,0.029,2641,2022,3304,0,0,0,0,0,0
$GC,350,-0.71,-116.8,52.5,-19.5,50,354,0.00,2.28,0.00,0.000,4,0.000,0.041,2641,458,3304,0,0,0,0,0,0
$GC,366,-0.71,-116.8,56.0,-21.2,51,371,0.10,2.28,0.00,0.000,6,0.158,0.032,2657,2050,3305,0,0,0,0,0,0
$GC,626,-0.71,-116.8,96.1,-12.9,75,630,0.00,2.33,0.00,0.000,4,0.000,0.042,2658,457,3305,0,0,0,0,0,0
$GC,652,-0.71,-116.8,99.3,-12.4,77,658,0.00,2.25,0.00,0.000,6,0.000,0.031,2648,2022,3306,0,0,0,0,0,0
$GC,913,-0.71,-116.8,132.9,-11.8,102,917,0.00,2.25,0.00,0.000,4,0.000,0.042,2648,459,3307,0,0,0,0,0,0
$GC,951,-0.71,-116.8,137.8,-13.3,105,956,0.00,2.25,0.00,0.000,6,0.000,0.032,2636,2045,3306,0,0,0,0,0,0
$GC,1212,-0.71,-116.8,169.2,-11.5,129,1216,0.00,2.30,0.00,0.000,4,0.000,0.042,2636,450,3307,0,0,0,0,0,0
$GC,1233,-0.71,-116.8,171.9,-12.1,130,1240,0.12,2.25,0.00,0.000,6,0.139,0.031,2663,2021,3308,0,0,0,0,0,0
$GC,1494,-0.71,-116.8,195.6,-8.6,155,1495,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2021,3308,0,0,0,0,0,0
$GC,1754,-0.71,-116.8,219.1,-9.8,170,1755,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2021,3308,0,0,0,0,0,0
$GC,2064,-0.71,-116.8,244.8,-7.4,185,2068,0.00,2.33,0.00,0.000,4,0.000,0.043,2652,3613,3308,0,0,0,0,0,0
$GC,2107,-0.71,-116.8,248.5,-8.5,187,2111,0.00,2.25,0.00,0.000,6,0.000,0.028,2652,2042,3308,0,0,0,0,0,0
$GC,2434,-0.71,-116.8,277.4,-8.9,203,2438,0.00,2.30,0.00,0.000,4,0.000,0.043,2652,442,3307,0,0,0,0,0,0
$GC,2546,-0.71,-116.8,287.5,-8.4,208,2550,0.00,2.22,0.00,0.000,6,0.000,0.032,2641,2037,3307,0,0,0,0,0,0
$GC,2870,-0.71,-116.8,317.2,-10.1,220,2874,0.00,2.30,0.00,0.000,4,0.000,0.043,2629,3610,3306,0,0,0,0,0,0
$GC,2902,-0.71,-116.8,320.7,-10.6,220,2909,0.08,2.28,0.00,0.000,6,0.104,0.028,2660,2024,3306,0,0,0,0,0,0
$GC,3235,-0.71,-116.8,343.8,-6.4,229,3239,0.00,2.28,0.00,0.000,4,0.000,0.043,2661,451,3304,0,0,0,0,0,0
$GC,3408,-0.71,-116.8,357.6,-8.3,232,3414,0.00,2.28,0.00,0.000,6,0.000,0.031,2651,2038,3302,0,0,0,0,0,0
$GC,3740,-0.71,-116.8,382.4,-7.3,241,3744,0.00,2.30,0.00,0.000,4,0.000,0.042,2651,454,3300,0,0,0,0,0,0
$GC,3772,-0.71,-116.8,385.1,-7.8,241,3778,0.00,2.25,0.00,0.000,6,0.000,0.031,2639,2026,3300,0,0,0,0,0,0
$GC,4104,-0.71,-116.8,410.0,-7.6,250,4105,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2026,3297,0,0,0,0,0,0
$GC,4428,-0.71,-116.8,435.0,-7.6,258,4432,0.00,2.28,0.00,0.000,4,0.000,0.043,2640,459,3296,0,0,0,0,0,0
$GC,4513,-0.71,-116.8,441.6,-7.9,260,4517,0.10,2.25,0.00,0.000,6,0.149,0.032,2659,2039,3295,0,0,0,0,0,0
$GC,4837,-0.71,-116.8,461.7,-6.3,268,4838,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2039,3293,0,0,0,0,0,0
$GC,5161,-0.71,-116.8,481.9,-6.3,276,5162,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2040,3290,0,0,0,0,0,0
$GC,5486,-0.71,-116.8,502.6,-6.4,284,5491,0.00,2.30,0.00,0.000,4,0.000,0.044,2648,3612,3287,0,0,0,0,0,0
$GC,5571,-0.71,-116.8,509.0,-8.5,286,5575,0.00,2.28,0.00,0.000,6,0.000,0.030,2648,2030,3287,0,0,0,0,0,0
$GC,5901,-0.71,-116.8,517.9,0.0,294,5905,0.00,2.30,0.00,0.000,4,0.000,0.046,2649,459,3285,0,0,0,0,0,0
$STATE,5976,end dive,NO_VERTICAL_VELOCITY
$STATE,5976,begin apogee
$GC,5983,-0.23,0.0,518.0,0.0,295,6077,0.43,0.00,91.45,0.935,6,0.072,0.000,2815,2039,2821,0,0,0,0,0,0
$STATE,6078,end apogee,CONTROL_FINISHED_OK
$STATE,6078,begin climb
$GC,6081,0.71,116.8,517.9,0.0,298,6188,0.82,2.47,99.38,0.908,4,0.067,0.044,3134,458,2343,0,0,0,0,0,0
$GC,6395,0.71,116.8,494.1,12.2,305,6400,0.00,2.33,0.00,0.000,6,0.000,0.033,3134,2025,2333,0,0,0,0,0,0
$GC,6709,0.71,116.8,457.8,11.7,313,6713,0.00,2.38,0.00,0.000,4,0.000,0.043,3134,3620,2328,0,0,0,0,0,0
$GC,6763,0.71,116.8,451.0,13.3,314,6768,0.00,2.35,0.00,0.000,6,0.000,0.032,3146,2029,2327,0,0,0,0,0,0
$GC,7076,0.71,116.8,417.8,10.3,322,7080,0.00,2.33,0.00,0.000,4,0.000,0.046,3158,452,2326,0,0,0,0,0,0
$GC,7176,0.71,116.8,406.5,10.6,324,7181,0.10,2.30,0.00,0.000,6,0.124,0.032,3122,2033,2325,0,0,0,0,0,0
$GC,7495,0.71,118.4,377.6,8.4,332,7499,0.00,2.33,0.00,0.000,4,0.000,0.045,3133,451,2323,0,0,0,0,0,0
$GC,7534,0.73,129.3,374.5,8.0,333,7548,0.00,2.28,8.10,0.746,6,0.000,0.032,3133,2032,2293,0,0,0,0,0,0
$GC,7862,0.73,129.3,347.5,8.6,341,7866,0.00,2.35,0.00,0.000,4,0.000,0.043,3134,3618,2291,0,0,0,0,0,0
$GC,7945,0.73,129.3,339.2,10.0,342,7951,0.00,2.28,0.00,0.000,6,0.000,0.031,3145,2023,2290,0,0,0,0,0,0
$GC,8276,0.73,129.3,308.6,9.1,351,8280,0.00,2.33,0.00,0.000,4,0.000,0.045,3157,463,2289,0,0,0,0,0,0
$GC,8436,0.73,129.3,292.1,10.4,356,8442,0.08,2.28,0.00,0.000,6,0.126,0.032,3130,2027,2289,0,0,0,0,0,0
$GC,8758,0.73,129.3,264.0,8.5,372,8759,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2028,2288,0,0,0,0,0,0
$GC,9069,0.79,180.4,239.5,6.0,387,9118,0.00,2.42,42.67,0.752,4,0.000,0.044,3141,463,2085,0,0,0,0,0,0
$GC,9191,0.79,180.4,228.9,10.5,392,9197,0.00,2.33,0.00,0.000,6,0.000,0.031,3141,2058,2080,0,0,0,0,0,0
$GC,9507,0.79,180.4,196.0,11.5,409,9511,0.00,2.33,0.00,0.000,4,0.000,0.042,3140,3620,2076,0,0,0,0,0,0
$GC,9579,0.79,180.4,187.2,12.5,415,9583,0.00,2.30,0.00,0.000,6,0.000,0.032,3152,2035,2074,0,0,0,0,0,0
$GC,9845,0.79,180.4,159.9,9.5,440,9849,0.00,2.33,0.00,0.000,4,0.000,0.044,3164,448,2073,0,0,0,0,0,0
$GC,9861,0.79,180.4,158.2,10.4,441,9865,0.00,2.28,0.00,0.000,6,0.000,0.031,3164,2044,2073,0,0,0,0,0,0
$GC,10121,0.79,180.4,132.2,9.7,465,10122,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,2044,2073,0,0,0,0,0,0
$GC,10376,0.81,196.9,109.2,7.7,489,10398,0.00,2.35,13.12,0.594,4,0.000,0.041,3164,3607,2019,0,0,0,0,0,0
$GC,10414,0.81,200.7,106.2,8.3,492,10424,0.00,2.30,5.03,0.471,6,0.000,0.031,3176,2033,2002,0,0,0,0,0,0
$GC,10686,0.81,200.7,78.3,10.5,518,10690,0.00,2.30,0.00,0.000,4,0.000,0.043,3188,452,2000,0,0,0,0,0,0
$GC,10785,0.81,200.7,67.3,9.9,526,10792,0.10,2.28,0.00,0.000,6,0.112,0.030,3151,2032,1999,0,0,0,0,0,0
$GC,11047,0.92,289.3,53.0,4.2,551,11129,0.10,2.42,71.32,0.568,4,0.104,0.040,3200,3605,1640,0,0,0,0,0,0
$GC,11140,0.92,289.3,45.6,10.9,560,11145,0.00,2.33,0.00,0.000,6,0.000,0.031,3212,2021,1638,0,0,0,0,0,0
$GC,11409,0.92,289.3,6.4,15.5,597,11414,0.00,2.33,0.00,0.000,4,0.000,0.042,3225,445,1633,0,0,0,0,0,0
$STATE,11435,end climb,SURFACE_DEPTH_REACHED
$STATE,11435,begin surface coast
$FINISH,0.8,1.022802
$STATE,11460,end surface coast,CONTROL_FINISHED_OK
$STATE,11460,begin surface
$SM_CCo,11478,45.67,0.405,1,0,1292,375.06
$SM_GC,1.73,0.00,0.00,45.67,0.000,0.000,0.405,129,2041,1292,-8.63,0.25,375.06
$IRIDIUM_FIX,2104.07,-15750.02,280112,080810
$TT8_MAMPS,0.027612
$HUMID,1078587732
$INTERNAL_PRESSURE,9.45227
$TCM_TEMP,24.40
$XPDR_PINGS,30
$24V_AH,23.8,26.135
$10V_AH,9.9,31.520
$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,19.900,119.875,331.075,45.675,0.000,49.360,70.845,219.308,7.500,0.000,16.393,1232.394,8457.759,480.851,1696.224,185.440,33.362,1246.953,0.000,1330.845,0.000,0.541,0.000
$DEVICE_MAMPS,229.333,52.156,934.973,404.976,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,409.175,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334956
$DATA_FILE_SIZE,20079,606
$CAP_FILE_SIZE,152520,0
$CFSIZE,260165632,237617152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040810,174746,2114.137,-15753.235,11,7.1,31,9.8