version: 66.03
glider: 135
mission: 2
dive: 12
start: 4 1 108 5 8 24
data:
$ID,135
$MISSION,2
$DIVE,12
$D_SURF,5.5999999
$D_FLARE,3
$D_TGT,140
$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,67
$T_MISSION,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0232
$MASS,51505
$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,48.133331
$TGT_DEFAULT_LON,-122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,680
$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,-36574.836
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,297
$PITCH_MAX,3602
$C_PITCH,2750
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,329
$ROLL_MAX,3901
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3894
$C_VBD,3510
$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,6
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-0.74758691
$PRESSURE_SLOPE,0.0001160407
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,0.0043428433
$SEABIRD_T_H,0.0006329699
$SEABIRD_T_I,2.4847595e-05
$SEABIRD_T_J,2.748096e-06
$SEABIRD_C_G,-9.89151
$SEABIRD_C_H,1.1238965
$SEABIRD_C_I,-0.0014102412
$SEABIRD_C_J,0.00019032255
$GPS1,045727,4806.300,-12222.418,11,1.6,11,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-69.3
$GPS2,050732,4806.295,-12222.440,15,1.6,15,18.3
$SPEED_LIMITS,0.121,0.228
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.095,0.208
$KALMAN_X,868.7,200.7,144.6,-845.0,-39.9
$KALMAN_Y,-719.4,-118.9,-198.9,-2303.6,-144.8
$MHEAD_RNG_PITCHd_Wd,317.1,3700,-12.0,-6.965
$D_GRID,140
$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,20,-0.93,-146.6,0.0,0.0,0,87,0.00,0.00,-63.95,0.000,2,0.000,0.000,296,1997,2203
$GC,90,-0.93,-146.6,3.4,-5.6,12,158,13.02,2.62,-48.80,0.000,4,0.162,0.076,2537,582,3896
$GC,194,-0.93,-146.6,6.6,-4.2,32,201,0.00,2.47,0.00,0.000,6,0.000,0.040,2537,2010,3896
$GC,266,-0.93,-146.6,8.5,-2.4,48,272,0.00,2.55,0.00,0.000,4,0.000,0.067,2537,3394,3896
$GC,329,-0.93,-146.6,10.5,-3.4,62,336,0.00,2.55,0.00,0.000,6,0.000,0.061,2537,1996,3896
$GC,399,-0.93,-146.6,12.7,-3.5,78,406,0.00,2.58,0.00,0.000,4,0.000,0.065,2538,588,3896
$GC,491,-0.93,-146.6,17.2,-5.4,99,498,0.00,2.45,0.00,0.000,6,0.000,0.040,2537,1998,3896
$GC,562,-0.93,-146.6,20.9,-5.4,115,568,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,1998,3896
$GC,632,-0.93,-146.6,24.9,-5.7,131,638,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,1998,3895
$GC,703,-0.93,-146.6,28.9,-5.6,147,709,0.00,2.58,0.00,0.000,4,0.000,0.064,2537,594,3895
$GC,748,-0.93,-146.6,31.7,-6.8,157,755,0.00,2.45,0.00,0.000,6,0.000,0.041,2537,2003,3895
$GC,819,-0.93,-146.6,36.0,-6.1,173,824,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2002,3895
$GC,889,-0.93,-146.6,40.2,-5.9,189,895,0.00,2.58,0.00,0.000,4,0.000,0.064,2537,594,3895
$GC,948,-0.93,-146.6,43.7,-6.2,202,955,0.00,2.42,0.00,0.000,6,0.000,0.040,2537,2000,3895
$GC,1022,-0.93,-146.6,47.9,-5.5,218,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2000,3895
$GC,1165,-0.93,-146.6,55.6,-5.5,249,1171,0.00,2.60,0.00,0.000,4,0.000,0.064,2537,585,3895
$GC,1232,-0.93,-146.6,59.5,-6.0,263,1238,0.00,2.45,0.00,0.000,6,0.000,0.039,2537,1999,3895
$GC,1377,-0.93,-146.6,66.8,-4.9,294,1382,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2001,3895
$GC,1519,-0.93,-146.6,74.2,-5.2,325,1525,0.00,2.58,0.00,0.000,4,0.000,0.064,2537,592,3895
$GC,1603,-0.93,-146.6,79.0,-5.9,343,1609,0.00,2.45,0.00,0.000,6,0.000,0.040,2537,2002,3895
$GC,1750,-0.93,-146.6,86.5,-5.1,374,1755,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2004,3895
$GC,1896,-0.93,-146.6,94.0,-5.1,405,1902,0.00,2.58,0.00,0.000,4,0.000,0.063,2537,593,3895
$GC,1989,-0.93,-146.6,99.5,-5.8,425,1995,0.00,2.45,0.00,0.000,6,0.000,0.040,2537,2000,3895
$GC,2135,-0.93,-146.6,107.1,-5.0,456,2141,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2001,3895
$STATE,2249,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2249,begin apogee
$GC,2255,-0.31,0.0,112.9,5.3,481,2335,0.68,0.00,75.15,0.715,6,0.085,0.000,2677,1942,3510
$STATE,2335,end apogee,CONTROL_FINISHED_OK
$STATE,2335,begin climb
$GC,2338,0.93,146.6,114.3,0.0,496,2464,1.27,2.67,115.22,0.698,4,0.065,0.065,2947,3337,2912
$GC,2490,0.93,146.6,105.6,7.8,525,2496,0.00,2.58,0.00,0.000,6,0.000,0.062,2947,1952,2912
$GC,2633,0.93,146.6,94.0,8.2,556,2639,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,1952,2912
$GC,2776,0.93,146.6,82.4,8.1,587,2781,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,1952,2912
$GC,2917,0.93,146.6,71.2,8.0,618,2923,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,1952,2912
$GC,3060,0.93,146.6,60.1,7.6,649,3065,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,1952,2912
$GC,3201,0.93,146.6,49.6,7.3,680,3206,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,1952,2912
$GC,3337,0.93,146.6,39.1,7.5,711,3342,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,1952,2912
$GC,3407,0.93,146.6,33.9,7.4,727,3413,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,1952,2912
$GC,3479,0.93,146.6,28.6,7.3,743,3485,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,1951,2912
$GC,3551,0.93,146.6,23.3,7.2,759,3557,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,1952,2912
$GC,3622,0.93,146.6,18.2,7.1,775,3628,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,1952,2913
$GC,3693,0.93,146.6,13.3,7.1,791,3699,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,1952,2912
$GC,3762,0.94,154.4,8.5,6.7,807,3775,0.00,2.65,7.93,0.589,4,0.000,0.063,2947,3346,2880
$STATE,3813,end climb,SURFACE_DEPTH_REACHED
$STATE,3813,begin surface coast
$FINISH,5.1,1.021483
$STATE,3822,end surface coast,CONTROL_FINISHED_OK
$STATE,3822,begin surface
$SM_CCo,3846,406.67,0.619,3,0,737,680.22
$SM_GC,0.85,0.00,0.00,406.67,0.000,0.000,0.619,292,1996,737,-11.31,-0.11,680.22
$IRIDIUM_FIX,4751.72,-12340.51,260697,050556
$TT8_MAMPS,0.029146
$HUMID,1466
$INTERNAL_PRESSURE,7.91046
$TCM_TEMP,16.10
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,100.2,22.6
$24V_AH,23.6,1.838
$10V_AH,10.1,0.775
$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,27.100,50.850,198.300,406.675,0.000,56.711,63.736,307.229,3.250,0.000,0.000,16.981,1237.564,825.354,767.856,1464.894,590.010,33.329,1460.492,0.000,1447.846,0.000,14.222
$DEVICE_MAMPS,161.837,79.768,714.844,618.969,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,556.004,970.577,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37914,820
$CAP_FILE_SIZE,78936,0
$CFSIZE,260165632,258510848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,3,0
$GPS,010408,062038,4806.691,-12222.727,26,1.0,27,18.3