version: 66.04
glider: 116
mission: 17
dive: 3
start: 4 8 109 20 37 7
data:
$ID,116
$MISSION,17
$DIVE,3
$D_SURF,2
$D_FLARE,3
$D_TGT,120
$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,40
$T_MISSION,60
$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,-53700.406
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,132
$PITCH_MAX,3449
$C_PITCH,2995
$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,23
$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,1
$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
$GPS1,203032,4809.122,-12224.362,10,1.3,10,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-67.2
$GPS2,203608,4809.251,-12224.489,13,1.9,13,18.4
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.174,-0.193
$KALMAN_X,-503.5,-296.3,-291.3,3.5,-240.6
$KALMAN_Y,803.6,469.3,461.3,-10.9,380.0
$MHEAD_RNG_PITCHd_Wd,119.4,2394,-17.5,-10.000
$D_GRID,57
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.64,-146.6,0.0,0.0,0,105,0.00,0.00,-85.88,0.000,2,0.000,0.000,135,2031,2918
$GC,108,-1.64,-146.6,3.2,-5.2,13,151,14.82,0.00,-24.75,0.000,6,0.180,0.000,2631,2031,3976
$GC,219,-1.64,-146.6,14.9,-10.5,31,226,0.00,2.62,0.00,0.000,4,0.000,0.070,2631,3439,3976
$GC,260,-1.64,-146.6,19.0,-10.7,38,267,0.00,2.53,0.00,0.000,6,0.000,0.044,2631,2019,3977
$GC,336,-1.64,-146.6,26.5,-10.0,46,337,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2019,3977
$GC,527,-1.64,-146.6,46.6,-10.9,64,532,0.00,2.58,0.00,0.000,4,0.000,0.061,2632,614,3977
$GC,548,-1.64,-146.6,49.0,-10.8,65,556,0.00,2.55,0.00,0.000,6,0.000,0.044,2632,2024,3976
$STATE,628,end dive,TARGET_DEPTH_EXCEEDED
$STATE,628,begin apogee
$GC,632,-0.42,0.0,57.4,10.6,73,811,1.35,0.00,168.20,0.663,6,0.094,0.000,2903,2024,3380
$STATE,812,end apogee,CONTROL_FINISHED_OK
$STATE,812,begin climb
$GC,813,1.64,146.6,64.8,0.0,91,991,2.00,2.62,167.38,0.636,4,0.055,0.059,3355,620,2780
$GC,1186,1.64,148.6,45.4,9.9,123,1194,0.00,2.53,0.00,0.000,6,0.000,0.042,3355,2030,2778
$GC,1384,1.66,166.2,27.1,9.2,142,1412,0.00,2.67,22.35,0.621,4,0.000,0.070,3355,3437,2700
$GC,1531,1.66,167.7,12.0,9.9,161,1539,0.00,2.53,0.00,0.000,6,0.000,0.044,3354,2026,2699
$GC,1607,1.92,380.4,7.4,0.2,174,1803,0.25,2.70,180.75,0.616,4,0.060,0.064,3411,3431,1826
$STATE,1875,end climb,SURFACE_DEPTH_REACHED
$STATE,1876,begin surface coast
$FINISH,0.6,1.017044
$STATE,2039,end surface coast,CONTROL_FINISHED_OK
$STATE,2039,begin surface
$SM_CCo,2065,147.65,0.597,0,0,769,640.23
$SM_GC,0.67,0.00,0.00,147.65,0.000,0.000,0.597,133,2016,769,-13.16,-0.34,640.23
$IRIDIUM_FIX,4754.94,-12225.30,030798,202005
$TT8_MAMPS,0.0767
$HUMID,1764
$INTERNAL_PRESSURE,10.6938
$TCM_TEMP,18.80
$XPDR_PINGS,-1
$24V_AH,23.8,30.371
$10V_AH,10.0,10.417
$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,33.750,25.900,538.675,147.650,0.000,0.000,0.000,0.000,0.000,0.000,14.137,13.269,421.580,637.927,723.002,450.698,60.437,31.411,1050.631,0.000,435.286,0.000,10.237,0.000
$DEVICE_MAMPS,180.245,69.797,662.688,597.493,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,158.309,0.000,0.000,0.000,0.000,0.000,26.504,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,6460,245
$CAP_FILE_SIZE,61614,0
$CFSIZE,260034560,257970176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080409,211504,4809.369,-12224.520,8,2.6,27,18.4