version: 66.04
glider: 116
mission: 17
dive: 2
start: 4 8 109 19 53 0
data:
$ID,116
$MISSION,17
$DIVE,2
$D_SURF,2
$D_FLARE,3
$D_TGT,45
$D_ABORT,1050
$D_NO_BLEED,200
$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,15
$T_MISSION,30
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,90
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0235
$MASS,51242
$NAV_MODE,1
$FERRY_MAX,0
$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,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,640
$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,15
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-53673.957
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,132
$PITCH_MAX,3449
$C_PITCH,2990
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,155
$ROLL_MAX,3900
$ROLL_DEG,40
$C_ROLL_DIVE,2027
$C_ROLL_CLIMB,2027
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,740
$VBD_MAX,3990
$C_VBD,3378
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,150
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-0.23661056
$PRESSURE_SLOPE,0.0001158926
$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,90
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$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
$SMARTS,0
$SMARTDEVICE1,3
$SMARTDEVICE2,-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,0.0043755369
$SEABIRD_T_H,0.00063954171
$SEABIRD_T_I,2.7100008e-05
$SEABIRD_T_J,3.135212e-06
$SEABIRD_C_G,-9.8677502
$SEABIRD_C_H,1.1239791
$SEABIRD_C_I,-0.0015851235
$SEABIRD_C_J,0.00021129416
$GPS1,194813,4808.826,-12223.998,9,1.1,9,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-65.1
$GPS2,195202,4808.917,-12224.106,11,1.4,11,18.4
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.050,-0.255
$KALMAN_X,-196.4,-196.4,-196.4,-9.9,-304.3
$KALMAN_Y,306.2,306.2,306.2,164.9,474.3
$MHEAD_RNG_PITCHd_Wd,150.6,1704,-17.5,-10.000
$D_GRID,85
$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
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.64,-146.6,0.0,0.0,0,100,0.00,0.00,-82.78,0.000,2,0.000,0.000,132,2020,2815
$GC,102,-1.64,-146.6,3.4,-6.1,16,153,14.88,2.62,-29.02,0.000,4,0.180,0.068,2630,616,3976
$GC,192,-1.64,-146.6,10.7,-8.9,32,198,0.00,2.53,0.00,0.000,6,0.000,0.044,2630,2034,3975
$GC,265,-1.64,-146.6,18.1,-10.2,45,270,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2034,3975
$GC,340,-1.64,-146.6,25.3,-9.6,54,341,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2034,3975
$GC,531,-1.64,-146.6,44.8,-10.4,72,535,0.00,2.28,0.00,0.000,3,0.000,0.072,2630,3268,3975
$STATE,536,end dive,TARGET_DEPTH_EXCEEDED
$STATE,536,begin apogee
$GC,542,-0.42,0.0,45.2,10.1,72,718,1.30,0.00,167.90,0.665,6,0.097,0.000,2895,2026,3378
$STATE,719,end apogee,CONTROL_FINISHED_OK
$STATE,719,begin climb
$GC,721,1.64,146.6,52.0,0.0,90,898,2.03,2.75,167.43,0.635,4,0.057,0.068,3349,3439,2779
$GC,993,1.65,154.1,41.7,9.7,115,1010,0.00,2.53,10.07,0.565,6,0.000,0.043,3349,2027,2749
$GC,1201,1.69,190.5,23.0,8.3,135,1248,0.00,2.70,38.92,0.623,4,0.000,0.067,3349,3431,2601
$GC,1361,1.72,214.9,7.8,8.9,160,1389,0.00,2.53,22.50,0.605,6,0.000,0.044,3348,2018,2502
$GC,1457,1.97,419.1,5.3,0.6,177,1637,0.30,2.67,168.32,0.616,4,0.057,0.062,3417,617,1668
$STATE,1641,end climb,SURFACE_DEPTH_REACHED
$STATE,1641,begin surface coast
$FINISH,0.0,1.013726
$STATE,1727,end surface coast,CONTROL_FINISHED_OK
$STATE,1727,begin surface
$SM_CCo,1752,128.73,0.594,0,0,768,640.23
$SM_GC,0.74,0.00,0.00,128.73,0.000,0.000,0.594,135,2030,768,-13.13,0.11,640.23
$IRIDIUM_FIX,4751.72,-12219.12,030798,191910
$TT8_MAMPS,0.026845
$HUMID,1757
$INTERNAL_PRESSURE,10.6938
$TCM_TEMP,18.70
$XPDR_PINGS,-1
$24V_AH,23.8,30.219
$10V_AH,10.2,10.379
$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,undefined,Mmodem_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,33.475,25.425,575.150,128.725,0.000,0.000,0.000,0.000,0.000,0.000,0.000,11.606,280.849,535.473,709.010,406.783,26.802,30.180,1023.931,0.000,390.690,0.000,10.237,0.000
$DEVICE_MAMPS,180.245,72.098,664.989,593.658,0.000,103.000,160.000,223.000,0.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,143.821,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6422,227
$CAP_FILE_SIZE,39528,0
$CFSIZE,260034560,257855488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080409,202508,4808.997,-12224.233,12,1.2,12,18.4