version: 66.03
glider: 137
mission: 2
dive: 17
start: 10 15 108 8 39 1
data:
$ID,137
$MISSION,2
$DIVE,17
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,1010
$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,50
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0232
$MASS,51514
$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,20
$TGT_DEFAULT_LON,-159
$TGT_AUTO_DEFAULT,0
$SM_CC,360
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-15175.785
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3729
$C_PITCH,2596
$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,220
$ROLL_MAX,3918
$ROLL_DEG,40
$C_ROLL_DIVE,2550
$C_ROLL_CLIMB,2330
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3850
$C_VBD,3332
$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,-21.948988
$PRESSURE_SLOPE,0.0001161082
$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,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,2
$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,0.0043829796
$SEABIRD_T_H,0.00064033607
$SEABIRD_T_I,2.6896696e-05
$SEABIRD_T_J,3.076357e-06
$SEABIRD_C_G,-9.991785
$SEABIRD_C_H,1.1193115
$SEABIRD_C_I,-0.00069633877
$SEABIRD_C_J,0.0001443676
$GPS1,083423,4807.587,-12223.553,10,99.0,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-67.0
$GPS2,083835,4807.550,-12223.541,17,99.0,36,18.3
$SPEED_LIMITS,0.173,0.235
$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,307.4,1008,-19.7,-10.000
$D_GRID,105
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.46,-117.3,0.0,0.0,0,86,0.00,0.00,-64.35,0.000,2,0.000,0.000,430,2525,3293
$GC,89,-1.46,-117.3,3.3,-5.9,12,118,9.90,0.00,-15.02,0.000,6,0.130,0.000,2274,2524,3812
$GC,183,-1.46,-117.3,11.9,-10.4,32,189,0.00,2.47,0.00,0.000,4,0.000,0.049,2274,3910,3813
$GC,299,-1.46,-117.3,23.8,-10.9,59,305,0.00,2.30,0.00,0.000,6,0.000,0.035,2274,2540,3813
$GC,371,-1.46,-117.3,30.8,-9.6,75,377,0.00,2.38,0.00,0.000,4,0.000,0.036,2274,1158,3813
$GC,414,-1.46,-117.3,34.6,-8.8,84,420,0.00,2.40,0.00,0.000,6,0.000,0.037,2274,2550,3813
$GC,484,-1.46,-117.3,40.8,-8.8,100,490,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2551,3813
$GC,625,-1.46,-117.3,53.4,-9.3,131,631,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2551,3813
$GC,767,-1.46,-117.3,66.5,-8.9,162,774,0.00,2.40,0.00,0.000,4,0.000,0.047,2274,3904,3813
$GC,835,-1.46,-117.3,73.0,-9.7,176,841,0.00,2.28,0.00,0.000,6,0.000,0.025,2274,2545,3813
$GC,978,-1.46,-117.3,85.8,-8.3,207,983,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2545,3813
$GC,1120,-1.46,-117.3,98.1,-8.6,238,1126,0.00,2.42,0.00,0.000,4,0.000,0.047,2274,3907,3813
$GC,1164,-1.46,-117.3,102.1,-9.3,247,1170,0.00,2.30,0.00,0.000,6,0.000,0.026,2274,2541,3813
$STATE,1197,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1197,begin apogee
$GC,1203,-0.33,0.0,105.3,8.5,254,1304,1.17,0.00,93.00,0.761,6,0.082,0.000,2517,2327,3332
$STATE,1305,end apogee,CONTROL_FINISHED_OK
$STATE,1305,begin climb
$GC,1307,1.46,117.3,107.0,0.0,273,1407,1.80,0.00,91.88,0.743,6,0.054,0.000,2913,2327,2852
$GC,1544,1.46,117.3,77.6,15.6,322,1551,0.00,2.50,0.00,0.000,4,0.000,0.044,2913,3736,2849
$GC,1579,1.46,117.3,71.9,16.6,329,1585,0.00,2.40,0.00,0.000,6,0.000,0.027,2913,2335,2849
$GC,1722,1.46,117.3,49.9,15.5,360,1728,0.00,2.50,0.00,0.000,4,0.000,0.047,2914,3740,2849
$GC,1758,1.46,117.3,44.0,16.4,367,1764,0.00,2.40,0.00,0.000,6,0.000,0.035,2914,2329,2848
$GC,1893,1.46,117.3,24.2,14.3,398,1899,0.00,2.50,0.00,0.000,4,0.000,0.051,2914,3735,2848
$GC,1907,1.46,117.3,22.2,13.2,400,1913,0.00,2.40,0.00,0.000,6,0.000,0.025,2914,2323,2848
$GC,1977,1.46,117.3,13.0,12.3,416,1983,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2317,2848
$GC,2046,1.46,117.3,5.1,11.2,432,2053,0.00,2.53,0.00,0.000,4,0.000,0.047,2914,3737,2847
$STATE,2065,end climb,SURFACE_DEPTH_REACHED
$STATE,2066,begin surface coast
$FINISH,0.5,1.019128
$STATE,2092,end surface coast,CONTROL_FINISHED_OK
$STATE,2092,begin surface
$SM_CCo,2115,115.50,0.667,0,0,1863,360.10
$SM_GC,1.28,0.00,0.00,115.50,0.000,0.000,0.667,427,2539,1863,-9.98,-0.31,360.10
$IRIDIUM_FIX,4751.72,-12056.72,090198,070749
$TT8_MAMPS,0.028379
$HUMID,2018
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,18.40
$XPDR_PINGS,12
$24V_AH,23.3,1.625
$10V_AH,10.1,0.889
$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,24.100,38.550,184.875,115.500,0.000,29.744,29.934,86.359,3.000,0.000,0.000,38.478,672.434,376.005,376.768,826.168,252.720,0.000,789.799,0.000,799.071,0.000,0.466
$DEVICE_MAMPS,130.390,51.389,760.864,666.523,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,293.853,525.743,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19083,442
$CAP_FILE_SIZE,43726,0
$CFSIZE,260165632,255254528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151008,091702,4807.769,-12223.749,8,1.5,13,18.3