version: 66.03
glider: 133
mission: 2
dive: 16
start: 9 17 108 7 38 36
data:
$ID,133
$MISSION,2
$DIVE,16
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,80
$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,50
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51844
$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,22
$TGT_DEFAULT_LON,125
$TGT_AUTO_DEFAULT,0
$SM_CC,410
$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,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-64161.176
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,401
$PITCH_MAX,3715
$C_PITCH,2905
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,157
$ROLL_MAX,3825
$ROLL_DEG,40
$C_ROLL_DIVE,1850
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,390
$VBD_MAX,3795
$C_VBD,3285
$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,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-20.474766
$PRESSURE_SLOPE,0.0001156489
$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,60
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,4
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,4.9000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,35
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043775062
$SEABIRD_T_H,0.00063627085
$SEABIRD_T_I,2.5270951e-05
$SEABIRD_T_J,2.7297233e-06
$SEABIRD_C_G,-9.8534336
$SEABIRD_C_H,1.093644
$SEABIRD_C_I,-4.1897227e-05
$SEABIRD_C_J,0.00011108216
$GPS1,073409,4807.571,-12223.659,14,1.5,15,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-70.0
$GPS2,073815,4807.569,-12223.654,11,1.6,11,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$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,313.6,906,-17.5,-10.000
$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
$STATE,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.35,-146.0,0.0,0.0,0,103,0.00,0.00,-79.50,0.000,2,0.000,0.000,398,1845,3559
$GC,107,-1.35,-146.0,3.2,-6.2,15,131,12.38,2.50,-4.57,0.000,4,0.154,0.054,2604,3247,3796
$GC,183,-1.35,-146.0,14.7,-10.1,28,189,0.00,2.45,0.00,0.000,6,0.000,0.034,2604,1845,3796
$GC,258,-1.35,-146.0,22.3,-10.2,41,264,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1845,3796
$GC,332,-1.35,-146.0,29.9,-10.6,54,338,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1845,3796
$GC,406,-1.35,-146.0,37.3,-10.5,67,412,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1845,3796
$GC,480,-1.35,-146.0,44.7,-9.7,80,486,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1845,3796
$GC,623,-1.35,-146.0,58.7,-9.6,105,629,0.00,2.53,0.00,0.000,4,0.000,0.054,2603,448,3796
$GC,680,-1.35,-146.0,65.0,-11.3,115,686,0.00,2.40,0.00,0.000,6,0.000,0.029,2604,1858,3796
$GC,822,-1.35,-146.0,79.3,-10.1,140,828,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1861,3797
$GC,964,-1.35,-146.0,93.3,-9.5,165,970,0.00,2.55,0.00,0.000,4,0.000,0.054,2603,447,3796
$GC,999,-1.35,-146.0,97.1,-10.9,171,1005,0.00,2.40,0.00,0.000,6,0.000,0.030,2604,1850,3796
$GC,1144,-1.35,-146.0,111.3,-8.9,196,1150,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1855,3796
$GC,1286,-1.35,-146.0,116.3,-0.1,221,1291,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1855,3796
$STATE,1341,end dive,NO_VERTICAL_VELOCITY
$STATE,1341,begin apogee
$GC,1347,-0.33,0.0,116.4,0.0,231,1453,1.00,0.00,101.47,0.851,6,0.051,0.000,2830,1855,3285
$STATE,1454,end apogee,CONTROL_FINISHED_OK
$STATE,1454,begin climb
$GC,1457,1.35,146.0,116.3,0.0,251,1585,1.62,2.60,118.00,0.822,4,0.048,0.043,3200,3297,2688
$GC,1631,1.36,157.3,108.4,9.5,283,1648,0.00,2.47,10.43,0.725,6,0.000,0.037,3199,1901,2643
$GC,1786,1.39,181.2,94.0,8.9,310,1808,0.00,0.00,20.50,0.778,6,0.000,0.000,3199,1901,2545
$GC,1944,1.40,188.6,78.3,9.7,338,1955,0.00,0.00,7.60,0.683,6,0.000,0.000,3199,1901,2516
$GC,2091,1.40,188.6,63.3,10.0,364,2097,0.00,2.55,0.00,0.000,4,0.000,0.055,3200,491,2516
$GC,2148,1.40,188.6,56.9,10.8,374,2155,0.00,2.40,0.00,0.000,6,0.000,0.031,3200,1899,2516
$GC,2291,1.42,204.6,42.9,9.3,399,2308,0.00,0.00,14.65,0.750,6,0.000,0.000,3199,1901,2449
$GC,2444,1.42,204.6,27.4,10.3,426,2451,0.00,2.53,0.00,0.000,4,0.000,0.055,3199,496,2449
$GC,2480,1.42,204.6,23.4,10.9,432,2487,0.00,2.40,0.00,0.000,6,0.000,0.031,3200,1902,2449
$GC,2555,1.45,231.7,15.9,8.7,445,2584,0.00,0.00,23.10,0.761,6,0.000,0.000,3199,1903,2339
$GC,2653,1.45,231.7,6.5,11.9,462,2659,0.00,2.45,0.00,0.000,4,0.000,0.044,3199,3297,2339
$STATE,2674,end climb,SURFACE_DEPTH_REACHED
$STATE,2674,begin surface coast
$FINISH,1.9,1.020582
$STATE,2692,end surface coast,CONTROL_FINISHED_OK
$STATE,2692,begin surface
$SM_CCo,2718,94.68,0.762,0,0,1612,410.14
$SM_GC,0.57,0.00,0.00,94.68,0.000,0.000,0.762,402,1850,1612,-11.51,0.00,410.14
$IRIDIUM_FIX,4751.72,-12340.51,121297,060638
$TT8_MAMPS,0.027612
$HUMID,2007
$INTERNAL_PRESSURE,9.18727
$TCM_TEMP,17.50
$XPDR_PINGS,14
$24V_AH,23.4,1.815
$10V_AH,10.1,0.756
$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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,27.525,34.800,295.750,94.675,0.000,27.515,32.155,94.770,5.250,0.000,0.000,12.657,681.655,826.845,436.824,835.066,293.367,0.000,897.130,0.000,833.783,0.000,12.947
$DEVICE_MAMPS,154.167,55.224,850.603,762.398,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,322.794,516.597,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22198,469
$CAP_FILE_SIZE,48127,0
$CFSIZE,260165632,257417216
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,170908,082620,4807.838,-12223.884,12,1.5,12,18.3