version: 66.03
glider: 142
mission: 4
dive: 20
start: 3 6 108 13 9 44
data:
$ID,142
$MISSION,4
$DIVE,20
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,250
$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,90
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,240
$USE_BATHY,-4
$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,1.023
$MASS,51634
$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,619.38251
$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,-11993.629
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,1435
$PITCH_MAX,3965
$C_PITCH,2990
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22.700001
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,100
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3900
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3964
$C_VBD,3000
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$PRESSURE_YINT,-3.0977876
$PRESSURE_SLOPE,9.1518581e-05
$AD7714Ch0Gain,64
$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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.65
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$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,0.0043273787
$SEABIRD_T_H,0.0006414231
$SEABIRD_T_I,2.3931538e-05
$SEABIRD_T_J,2.340664e-06
$SEABIRD_C_G,-10.258962
$SEABIRD_C_H,1.1819305
$SEABIRD_C_I,-0.0037964056
$SEABIRD_C_J,0.00031207138
$GPS1,130437,4807.922,-12223.989,8,1.4,24,18.3
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-66.7
$GPS2,130845,4807.935,-12223.987,13,1.5,13,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.031,-0.170
$KALMAN_X,480.9,95.6,-66.9,-1788.0,-21.1
$KALMAN_Y,-1476.0,-180.2,207.6,1071.2,149.3
$MHEAD_RNG_PITCHd_Wd,151.3,122,-27.2,-10.000
$D_GRID,103
$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,-1.28,-63.1,0.0,0.0,0,152,0.00,0.00,-129.45,0.000,2,0.000,0.000,1438,2194,3069
$GC,155,-1.35,-117.9,3.4,-4.2,18,186,10.77,2.85,-13.07,0.000,4,0.242,0.048,2687,3606,3481
$GC,325,-1.22,-117.9,36.4,-24.1,48,333,0.20,2.83,0.00,0.000,6,0.168,0.035,2717,2200,3481
$GC,398,-1.15,-117.9,52.4,-21.5,61,404,0.15,0.00,0.00,0.000,6,0.189,0.000,2737,2200,3481
$GC,535,-1.11,-117.9,79.5,-18.3,86,543,0.00,2.85,0.00,0.000,4,0.000,0.048,2737,790,3481
$GC,621,-1.08,-117.9,96.7,-20.4,101,627,0.00,2.75,0.00,0.000,6,0.000,0.028,2737,2211,3481
$STATE,655,end dive,TARGET_DEPTH_EXCEEDED
$STATE,655,begin apogee
$GC,660,-0.22,0.0,103.9,20.6,107,772,1.35,0.00,107.75,0.942,6,0.171,0.000,2935,2517,3000
$STATE,773,end apogee,CONTROL_FINISHED_OK
$STATE,773,begin climb
$GC,775,1.35,117.9,111.6,0.0,125,905,2.05,2.92,112.05,0.899,4,0.100,0.041,3277,3877,2519
$GC,1032,1.19,117.9,79.1,17.9,169,1039,0.20,2.80,0.00,0.000,6,0.172,0.031,3252,2486,2518
$GC,1170,1.10,117.9,56.4,15.4,194,1178,0.15,0.00,0.00,0.000,6,0.159,0.000,3230,2485,2517
$GC,1307,1.05,117.9,38.2,12.5,219,1315,0.00,2.85,0.00,0.000,4,0.000,0.041,3230,3875,2518
$GC,1390,0.98,117.9,26.9,14.1,234,1398,0.15,2.75,0.00,0.000,6,0.150,0.033,3207,2501,2517
$GC,1463,0.98,117.9,18.0,11.9,247,1470,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2501,2517
$GC,1535,0.98,117.9,10.2,10.6,260,1543,0.00,2.85,0.00,0.000,4,0.000,0.044,3206,1087,2517
$GC,1572,0.99,126.0,6.8,9.1,266,1588,0.00,2.75,8.55,0.725,6,0.000,0.027,3207,2492,2486
$GC,1653,1.15,197.5,2.3,2.4,280,1727,0.15,2.95,64.10,0.864,4,0.066,0.042,3239,1093,2193
$STATE,1822,end climb,SURFACE_DEPTH_REACHED
$STATE,1822,begin surface coast
$FINISH,2.0,1.019229
$STATE,1932,end surface coast,CONTROL_FINISHED_OK
$STATE,1932,begin surface
$SM_CCo,1935,402.58,0.842,0,0,475,619.38
$SM_GC,0.90,9.68,0.00,0.00,0.045,0.000,0.000,1437,2212,472,-7.12,0.31,620.36
$IRIDIUM_FIX,4751.72,-12226.29,310597,121221
$TT8_MAMPS,0.026845
$HUMID,1641
$INTERNAL_PRESSURE,8.80939
$TCM_TEMP,11.60
$XPDR_PINGS,31
$24V_AH,20.6,3.880
$10V_AH,9.8,1.443
$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,24.850,34.025,292.450,402.575,0.000,31.453,16.698,115.814,7.750,0.000,0.000,16.039,494.623,221.715,704.094,1038.591,256.369,33.316,1153.725,0.000,1048.995,0.000,0.465
$DEVICE_MAMPS,242.372,48.321,941.876,842.166,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,223.077,236.882,263.033,444.206,868.989,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25537,329
$CAP_FILE_SIZE,38687,0
$CFSIZE,260165632,257818624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060308,135121,4807.794,-12223.979,13,1.8,13,18.3