version: 66.07
glider: 511
mission: 12
dive: 66
start: 11 4 111 3 3 35
data:
$ID,511
$MISSION,12
$DIVE,66
$D_SURF,3
$D_FLARE,3
$D_TGT,900
$D_ABORT,1000
$D_NO_BLEED,500
$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,300
$T_MISSION,630
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,140
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52011
$NAV_MODE,1
$FERRY_MAX,45
$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,2128
$TGT_DEFAULT_LON,15786
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-76286.148
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,58
$PITCH_MAX,3811
$C_PITCH,2900
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,31
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,181
$ROLL_MAX,3908
$ROLL_DEG,40
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,499
$VBD_MAX,3959
$C_VBD,2600
$VBD_DBAND,2
$VBD_CNV,-0.245296
$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,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,-49.327217
$PRESSURE_SLOPE,0.00011615451
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,450
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,10
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,5
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,0.0043997332
$SEABIRD_T_H,0.00064299116
$SEABIRD_T_I,2.7328302e-05
$SEABIRD_T_J,3.0913354e-06
$SEABIRD_C_G,-10.108667
$SEABIRD_C_H,1.1476576
$SEABIRD_C_I,-0.002108841
$SEABIRD_C_J,0.00023981143
$GPS1,041111,025207,2121.692,-15812.036,27,2.0,27,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-78.0
$GPS2,041111,030304,2121.693,-15812.028,10,2.2,29,9.8
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,W6
$TGT_LATLONG,2122.400,-15811.900
$TGT_RADIUS,1000.000
$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,359.8,1328,-27.2,-10.000
$D_GRID,766
$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,-0.96,-63.0,0.0,0.0,0,80,0.00,0.00,-62.60,0.000,6,0.000,0.000,32,1793,2858,0,0,0,0,0,0
$GC,83,-1.03,-126.9,2.5,-3.2,6,105,10.18,2.30,-5.47,0.000,4,0.239,0.067,2547,3217,3122,0,0,0,0,0,0
$GC,194,-1.03,-126.9,43.7,-33.3,18,198,0.00,2.22,0.00,0.000,6,0.000,0.048,2547,1796,3124,0,0,0,0,0,0
$GC,455,-1.03,-126.9,124.5,-25.2,42,459,0.00,2.22,0.00,0.000,4,0.000,0.055,2547,381,3126,0,0,0,0,0,0
$GC,608,-1.03,-126.9,160.3,-23.5,58,612,0.00,2.20,0.00,0.000,6,0.000,0.046,2538,1809,3127,0,0,0,0,0,0
$GC,866,-1.03,-126.9,217.5,-19.9,78,867,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,1809,3130,0,0,0,0,0,0
$GC,1177,-1.03,-126.9,273.3,-17.5,93,1178,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,1808,3133,0,0,0,0,0,0
$GC,1482,-1.03,-126.9,330.8,-18.4,104,1486,0.00,2.25,0.00,0.000,4,0.000,0.056,2537,383,3133,0,0,0,0,0,0
$GC,1579,-1.03,-126.9,349.4,-17.7,106,1584,0.15,2.17,0.00,0.000,6,0.198,0.048,2565,1805,3133,0,0,1,0,0,0
$GC,1899,-1.03,-126.9,402.2,-17.1,114,1903,0.00,2.20,0.00,0.000,4,0.000,0.060,2555,3208,3133,0,0,0,0,0,0
$GC,1949,-1.03,-126.9,411.2,-17.1,115,1953,0.00,2.15,0.00,0.000,6,0.000,0.044,2555,1796,3132,0,0,0,0,0,0
$GC,2273,-1.03,-126.9,465.9,-17.8,123,2277,0.00,2.20,0.00,0.000,4,0.000,0.059,2555,394,3130,0,0,0,0,0,0
$GC,2443,-1.03,-126.9,497.3,-16.9,126,2447,0.00,2.17,0.00,0.000,6,0.000,0.048,2545,1801,3128,0,0,0,0,0,0
$GC,2773,-1.03,-126.9,553.3,-17.4,134,2777,0.00,2.22,0.00,0.000,4,0.000,0.060,2545,392,3125,0,0,1,0,0,0
$GC,2816,-1.03,-126.9,560.1,-16.4,135,2820,0.12,2.20,0.00,0.000,6,0.213,0.051,2562,1804,3124,0,0,0,0,0,0
$GC,3145,-1.03,-126.9,600.0,-10.9,143,3148,0.00,2.25,0.00,0.000,4,0.000,0.063,2572,389,3122,0,0,0,0,0,0
$STATE,3282,end dive,NO_VERTICAL_VELOCITY
$STATE,3282,begin apogee
$GC,3290,-0.23,0.0,599.9,0.0,146,3403,0.68,0.00,105.75,1.039,6,0.056,0.000,2840,2248,2599,0,0,0,0,0,0
$STATE,3404,end apogee,CONTROL_FINISHED_OK
$STATE,3404,begin climb
$GC,3407,1.03,126.9,599.8,0.0,149,3520,1.05,0.00,106.03,1.007,6,0.055,0.000,3237,2248,2082,0,0,0,0,0,0
$GC,3857,1.03,126.9,494.6,26.2,160,3861,0.00,2.33,0.00,0.000,4,0.000,0.067,3237,3662,2071,0,0,0,0,0,0
$GC,3974,1.03,126.9,461.7,27.0,162,3978,0.00,2.25,0.00,0.000,6,0.000,0.049,3248,2248,2069,0,0,0,0,0,0
$GC,4314,1.03,126.9,380.1,24.1,171,4318,0.00,2.33,0.00,0.000,4,0.000,0.071,3248,3662,2066,0,0,0,0,0,0
$GC,4378,1.03,126.9,363.2,25.9,172,4382,0.00,2.25,0.00,0.000,6,0.000,0.051,3259,2249,2066,0,0,0,0,0,0
$GC,4708,1.03,126.9,285.7,22.7,181,4712,0.00,2.30,0.00,0.000,4,0.000,0.072,3259,3659,2061,0,0,0,0,0,0
$GC,4806,1.03,126.9,261.4,25.0,185,4811,0.15,2.22,0.00,0.000,6,0.239,0.052,3237,2250,2061,0,0,0,0,0,0
$GC,5126,1.03,126.9,201.3,19.8,201,5130,0.00,2.30,0.00,0.000,4,0.000,0.068,3227,3658,2058,0,0,0,0,0,0
$GC,5279,1.03,126.9,175.3,15.8,217,5283,0.00,2.20,0.00,0.000,6,0.000,0.050,3236,2249,2057,0,0,0,0,0,0
$GC,5539,1.03,126.9,133.3,16.2,241,5544,0.00,2.33,0.00,0.000,4,0.000,0.071,3226,3664,2054,0,0,0,0,0,0
$GC,5739,1.03,126.9,102.9,13.2,262,5743,0.00,2.22,0.00,0.000,6,0.000,0.051,3236,2244,2052,0,0,0,0,0,0
$GC,6000,1.06,148.2,82.1,7.7,286,6019,0.00,2.20,12.85,0.653,4,0.000,0.053,3247,827,1994,0,0,0,0,0,0
$GC,6279,1.06,148.2,52.1,12.9,316,6285,0.00,2.28,0.00,0.000,6,0.000,0.056,3247,2252,1991,0,0,0,0,0,0
$GC,6540,1.06,148.2,20.1,10.8,341,6544,0.00,2.22,0.00,0.000,4,0.000,0.059,3257,834,1991,0,0,0,0,0,0
$GC,6591,1.06,148.2,14.5,10.7,346,6595,0.00,2.22,0.00,0.000,6,0.000,0.055,3257,2250,1991,0,0,0,0,0,0
$STATE,6680,end climb,SURFACE_DEPTH_REACHED
$STATE,6680,begin surface coast
$FINISH,-0.2,1.022914
$STATE,6704,end surface coast,CONTROL_FINISHED_OK
$STATE,6704,begin surface
$SM_CCo,6722,115.93,0.582,0,0,1172,350.04
$SM_GC,0.87,0.00,0.00,115.93,0.000,0.000,0.582,54,1776,1172,-8.90,-0.68,350.04
$IRIDIUM_FIX,2113.32,-15811.06,280413,171743
$TT8_MAMPS,0.026078
$HUMID,1078865152
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,24.70
$XPDR_PINGS,1
$ALTIM_TOP_PING,300.1,0.0
$24V_AH,24.2,20.293
$10V_AH,10.5,20.157
$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,20.675,64.125,224.625,115.925,0.000,30.113,33.792,387.676,0.500,0.000,32.532,803.182,4604.669,414.832,1449.584,204.515,0.000,950.603,0.000,968.543,0.000,2.888,0.000
$DEVICE_MAMPS,239.304,72.098,1039.285,582.153,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,238.613,0.000,0.000,0.000,0.000,0.000,0.000,612.829,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,304096
$DATA_FILE_SIZE,13443,356
$CAP_FILE_SIZE,102017,0
$CFSIZE,260165632,256450560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,041111,045825,2122.445,-15811.842,8,1.3,13,9.8