version: 66.03
glider: 137
mission: 2
dive: 18
start: 10 15 108 9 21 12
data:
$ID,137
$MISSION,2
$DIVE,18
$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,-15187.556
$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,48
$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
$GPS1,091702,4807.769,-12223.749,8,1.5,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-66.3
$GPS2,092045,4807.750,-12223.746,9,1.6,9,18.3
$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,307.6,560,-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,-117.3,0.0,0.0,0,103,0.00,0.00,-80.80,0.000,2,0.000,0.000,428,2540,3680
$GC,106,-1.46,-117.3,3.4,-2.8,15,124,9.90,0.00,-3.35,0.000,6,0.130,0.000,2273,2540,3812
$GC,188,-1.46,-117.3,14.5,-10.6,33,194,0.00,2.45,0.00,0.000,4,0.000,0.054,2273,3903,3813
$GC,251,-1.46,-117.3,20.8,-10.1,47,257,0.00,2.30,0.00,0.000,6,0.000,0.034,2274,2542,3814
$GC,322,-1.46,-117.3,27.4,-8.2,63,329,0.00,2.38,0.00,0.000,4,0.000,0.034,2273,1161,3814
$GC,359,-1.46,-117.3,30.4,-8.0,71,366,0.00,2.40,0.00,0.000,6,0.000,0.033,2273,2555,3814
$GC,430,-1.46,-117.3,35.9,-7.6,87,436,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2555,3814
$GC,500,-1.46,-117.3,41.3,-8.1,103,506,0.00,2.40,0.00,0.000,4,0.000,0.057,2274,3906,3813
$GC,567,-1.46,-117.3,47.5,-9.8,117,573,0.00,2.28,0.00,0.000,6,0.000,0.025,2273,2550,3814
$GC,711,-1.46,-117.3,58.9,-7.5,148,717,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2550,3814
$GC,854,-1.46,-117.3,70.3,-7.8,179,860,0.00,2.42,0.00,0.000,4,0.000,0.047,2273,3908,3814
$GC,951,-1.46,-117.3,79.0,-8.9,200,957,0.00,2.28,0.00,0.000,6,0.000,0.025,2273,2551,3814
$GC,1095,-1.46,-117.3,90.8,-8.1,231,1101,0.00,2.38,0.00,0.000,4,0.000,0.044,2274,1162,3814
$GC,1144,-1.46,-117.3,94.8,-8.2,241,1150,0.00,2.40,0.00,0.000,6,0.000,0.041,2273,2555,3814
$STATE,1270,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1271,begin apogee
$GC,1276,-0.33,0.0,105.2,8.0,269,1376,1.15,0.00,92.72,0.765,6,0.075,0.000,2515,2331,3332
$STATE,1377,end apogee,CONTROL_FINISHED_OK
$STATE,1377,begin climb
$GC,1379,1.46,117.3,106.9,0.0,288,1480,1.83,0.00,91.75,0.745,6,0.053,0.000,2912,2331,2852
$GC,1616,1.46,117.3,78.0,14.7,337,1621,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2331,2850
$GC,1756,1.46,117.3,57.6,14.4,368,1762,0.00,2.50,0.00,0.000,4,0.000,0.044,2912,3740,2848
$GC,1773,1.46,117.3,55.1,14.2,371,1779,0.00,2.38,0.00,0.000,6,0.000,0.027,2911,2344,2848
$GC,1914,1.46,117.3,35.2,14.1,402,1920,0.00,2.47,0.00,0.000,4,0.000,0.052,2912,3737,2848
$GC,1956,1.46,117.3,28.7,15.6,411,1963,0.00,2.40,0.00,0.000,6,0.000,0.031,2912,2324,2848
$GC,2028,1.46,117.3,19.3,12.6,427,2033,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2318,2848
$GC,2098,1.46,117.3,10.4,11.9,443,2103,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2318,2848
$GC,2169,1.46,120.5,3.2,9.8,459,2176,0.00,2.53,0.00,0.000,4,0.000,0.049,2912,3740,2848
$STATE,2180,end climb,SURFACE_DEPTH_REACHED
$STATE,2180,begin surface coast
$FINISH,0.8,1.014368
$STATE,2214,end surface coast,CONTROL_FINISHED_OK
$STATE,2214,begin surface
$SM_CCo,2237,112.35,0.663,0,0,1864,360.10
$SM_GC,1.40,0.00,0.00,112.35,0.000,0.000,0.663,428,2532,1864,-9.97,-0.51,360.10
$IRIDIUM_FIX,4751.72,-12340.51,090198,080825
$TT8_MAMPS,0.028379
$HUMID,2027
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,18.60
$XPDR_PINGS,14
$24V_AH,23.3,1.694
$10V_AH,10.1,0.931
$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,24.150,38.350,184.475,112.350,0.000,25.451,29.936,88.180,3.500,0.000,0.000,11.145,712.153,404.047,379.639,844.592,255.176,0.000,813.423,0.000,848.748,0.000,0.465
$DEVICE_MAMPS,129.623,56.758,765.466,663.455,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,312.085,555.049,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22268,469
$CAP_FILE_SIZE,45657,0
$CFSIZE,260165632,255217664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,151008,100109,4807.998,-12223.937,10,1.5,10,18.3