version: 66.04
glider: 104
mission: 14
dive: 4
start: 2 23 109 21 28 40
data:
$ID,104
$MISSION,14
$DIVE,4
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,100
$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,330
$T_MISSION,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,320
$USE_BATHY,-3
$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,52000
$NAV_MODE,1
$FERRY_MAX,12
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.5700001e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,62
$TGT_DEFAULT_LON,-6.8000002
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-217303.14
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,45
$PITCH_MAX,3331
$C_PITCH,2500
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,176
$ROLL_MAX,3929
$ROLL_DEG,40
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,1775
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,46
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,574
$VBD_MAX,3908
$C_VBD,2889
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-17.469234
$PRESSURE_SLOPE,0.000115925
$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,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.784981
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043870676
$SEABIRD_T_H,0.00064850412
$SEABIRD_T_I,2.4590418e-05
$SEABIRD_T_J,2.3871978e-06
$SEABIRD_C_G,-10.313265
$SEABIRD_C_H,1.1866801
$SEABIRD_C_I,0.0012373535
$SEABIRD_C_J,-1.1855637e-05
$GPS1,212206,6110.896,-918.789,26,2.0,27,-9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-57.7
$GPS2,212649,6110.883,-918.750,33,1.9,44,-9.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FB
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.180,0.193
$KALMAN_X,-22.4,-42.9,-134.3,2377.2,231.6
$KALMAN_Y,-77.5,-103.8,-100.8,2364.4,129.0
$MHEAD_RNG_PITCHd_Wd,52.4,23719,-18.1,-10.000
$D_GRID,467
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.39,-146.6,0.0,0.0,0,78,0.00,0.00,-62.72,0.000,6,0.000,0.000,40,2047,3489
$GC,80,-1.39,-146.6,4.8,-8.5,3,102,11.73,2.62,0.00,0.000,4,0.146,0.061,2191,619,3490
$GC,285,-1.39,-146.6,40.6,-13.6,12,290,0.00,2.42,0.00,0.000,6,0.000,0.035,2192,2015,3489
$GC,613,-1.39,-146.6,78.6,-11.6,28,614,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2016,3489
$GC,922,-1.39,-146.6,115.6,-11.6,43,926,0.00,2.53,0.00,0.000,4,0.000,0.058,2192,612,3489
$GC,953,-1.39,-146.6,119.5,-11.3,44,961,0.00,2.45,0.00,0.000,6,0.000,0.035,2192,2026,3489
$GC,1268,-1.39,-146.6,155.6,-11.2,60,1269,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2026,3489
$GC,1578,-1.39,-146.6,190.7,-12.1,75,1581,0.00,2.53,0.00,0.000,4,0.000,0.058,2191,618,3489
$GC,1610,-1.39,-146.6,195.3,-13.6,76,1615,0.00,2.42,0.00,0.000,6,0.000,0.035,2191,2022,3489
$GC,1931,-1.39,-146.6,233.3,-10.9,92,1935,0.00,2.53,0.00,0.000,4,0.000,0.058,2191,616,3489
$GC,1963,-1.39,-146.6,236.8,-10.7,93,1968,0.00,2.42,0.00,0.000,6,0.000,0.035,2191,2017,3489
$GC,2284,-1.39,-146.6,272.4,-11.5,109,2285,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2016,3490
$GC,2593,-1.39,-146.6,306.8,-10.7,124,2597,0.00,2.50,0.00,0.000,4,0.000,0.058,2192,618,3490
$GC,2631,-1.39,-146.6,311.2,-11.4,125,2639,0.00,2.42,0.00,0.000,6,0.000,0.035,2192,2024,3490
$GC,2947,-1.39,-146.6,345.7,-11.4,141,2948,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2024,3490
$GC,3256,-1.39,-146.6,383.9,-12.8,156,3260,0.00,2.53,0.00,0.000,4,0.000,0.058,2191,613,3490
$GC,3305,-1.39,-146.6,390.5,-13.1,158,3310,0.00,2.40,0.00,0.000,6,0.000,0.035,2192,2026,3490
$GC,3625,-1.39,-146.6,430.2,-11.8,174,3626,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2027,3490
$GC,3936,-1.39,-146.6,464.9,-11.0,189,3940,0.00,2.53,0.00,0.000,4,0.000,0.057,2192,610,3490
$STATE,3954,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3955,begin apogee
$GC,3960,-0.33,0.0,467.4,11.3,190,4084,1.08,0.00,120.65,0.972,6,0.079,0.000,2421,1782,2889
$STATE,4085,end apogee,CONTROL_FINISHED_OK
$STATE,4085,begin climb
$GC,4086,1.39,146.6,471.9,0.0,196,4219,1.75,2.70,124.38,0.945,4,0.050,0.061,2802,365,2290
$GC,4246,1.50,240.8,470.8,5.7,204,4327,0.08,2.47,74.43,0.923,6,0.051,0.034,2828,1781,1907
$GC,4634,1.50,240.8,432.8,10.3,223,4639,0.00,2.58,0.00,0.000,4,0.000,0.061,2828,370,1907
$GC,4666,1.50,240.8,429.1,10.5,224,4673,0.00,2.42,0.00,0.000,6,0.000,0.034,2828,1773,1907
$GC,4981,1.50,241.9,397.5,9.9,240,4983,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1774,1907
$GC,5291,1.51,248.7,366.6,9.7,255,5305,0.00,2.62,7.95,0.759,4,0.000,0.064,2827,373,1875
$GC,5400,1.51,248.7,354.7,11.2,260,5405,0.00,2.38,0.00,0.000,6,0.000,0.034,2827,1772,1875
$GC,5732,1.51,248.7,321.7,10.0,276,5734,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1773,1875
$GC,6042,1.51,248.7,290.8,10.1,291,6043,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1774,1875
$GC,6351,1.52,254.9,260.3,9.7,306,6365,0.00,2.65,7.12,0.700,4,0.000,0.063,2828,363,1848
$GC,6404,1.52,254.9,254.5,10.7,308,6409,0.00,2.45,0.00,0.000,6,0.000,0.034,2827,1779,1849
$GC,6725,1.53,259.5,222.9,9.8,324,6733,0.00,0.00,5.55,0.634,6,0.000,0.000,2828,1780,1830
$GC,7034,1.53,259.5,191.4,10.5,339,7039,0.00,2.58,0.00,0.000,4,0.000,0.064,2828,365,1830
$GC,7101,1.53,259.5,183.6,12.3,342,7105,0.00,2.40,0.00,0.000,6,0.000,0.033,2828,1778,1830
$GC,7433,1.53,259.5,146.2,11.8,358,7437,0.00,2.55,0.00,0.000,4,0.000,0.063,2828,372,1830
$GC,7471,1.53,259.5,141.3,12.9,360,7476,0.00,2.38,0.00,0.000,6,0.000,0.034,2827,1777,1830
$GC,7797,1.53,259.5,102.8,11.6,376,7798,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1777,1830
$GC,8106,1.53,259.5,68.4,11.3,391,8111,0.00,2.55,0.00,0.000,4,0.000,0.062,2828,370,1830
$GC,8168,1.53,259.5,61.0,12.1,394,8172,0.00,2.38,0.00,0.000,6,0.000,0.034,2828,1774,1830
$GC,8494,1.53,266.3,27.0,9.7,410,8507,0.00,2.62,6.97,0.596,4,0.000,0.064,2828,373,1803
$GC,8529,1.53,266.3,22.5,12.0,411,8538,0.00,2.42,0.00,0.000,6,0.000,0.034,2828,1777,1803
$STATE,8741,end climb,SURFACE_DEPTH_REACHED
$STATE,8741,begin surface coast
$FINISH,0.5,1.003290
$STATE,8763,end surface coast,CONTROL_FINISHED_OK
$STATE,8763,begin surface
$SM_CCo,8782,16.23,0.653,0,0,1665,300.00
$SM_GC,1.21,0.00,0.00,16.23,0.000,0.000,0.653,40,2037,1665,-11.32,0.34,300.00
$IRIDIUM_FIX,6046.07,-924.08,200598,191912
$TT8_MAMPS,0.026078
$HUMID,1531
$INTERNAL_PRESSURE,8.26423
$TCM_TEMP,17.10
$XPDR_PINGS,18
$ALTIM_BOTTOM_PING,402.6,103.0
$24V_AH,22.5,8.562
$10V_AH,10.1,3.148
$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,Compass2
$DEVICE_SECS,27.125,74.900,347.050,16.225,0.000,30.829,35.881,115.452,7.500,0.000,0.000,45.972,803.156,6579.021,450.183,1033.166,293.051,32.328,959.470,0.000,984.220,0.000,22.183,0.000
$DEVICE_MAMPS,145.730,64.428,971.789,652.717,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,289.982,305.535,356.869,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19148,423
$CAP_FILE_SIZE,66131,0
$CFSIZE,260165632,256380928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230209,235630,6111.456,-917.004,37,1.2,38,-9.3