version: 66.04
glider: 104
mission: 13
dive: 15
start: 1 21 109 11 32 55
data:
$ID,104
$MISSION,13
$DIVE,15
$D_SURF,3
$D_FLARE,4
$D_TGT,150
$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,62.5
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,320
$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,1.023
$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,48.130001
$TGT_DEFAULT_LON,-122.366
$TGT_AUTO_DEFAULT,0
$SM_CC,658
$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,-216850.23
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,45
$PITCH_MAX,3331
$C_PITCH,2375
$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,2000
$C_ROLL_CLIMB,1840
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,574
$VBD_MAX,3908
$C_VBD,3296
$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,-16.602304
$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,60
$ALTIM_PING_DELTA,10
$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
$GPS1,112826,4805.930,-12221.924,9,1.4,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-71.1
$GPS2,113202,4805.930,-12221.925,15,1.4,15,18.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.120,0.214
$KALMAN_X,-1874.8,-81.9,-85.6,2964.7,-168.8
$KALMAN_Y,658.4,37.7,145.9,-6160.9,121.5
$MHEAD_RNG_PITCHd_Wd,312.5,4613,-14.8,-8.000
$D_GRID,150
$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,-1.17,-146.6,0.0,0.0,0,108,0.00,0.00,-92.00,0.000,2,0.000,0.000,45,1997,3552
$GC,110,-1.17,-146.6,4.2,-3.6,15,137,11.50,2.53,-7.85,0.000,4,0.148,0.067,2116,3402,3892
$GC,388,-1.17,-146.6,27.3,-7.8,56,396,0.00,2.47,0.00,0.000,6,0.000,0.040,2116,2005,3892
$GC,586,-1.17,-146.6,41.1,-6.9,75,591,0.00,2.50,0.00,0.000,4,0.000,0.054,2116,3398,3891
$GC,809,-1.17,-146.6,57.1,-7.1,90,814,0.00,2.47,0.00,0.000,6,0.000,0.040,2116,1998,3891
$GC,1137,-1.17,-146.6,78.3,-6.2,106,1138,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,1998,3892
$GC,1446,-1.17,-146.6,96.6,-5.9,121,1447,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,1998,3891
$GC,1763,-1.17,-146.6,115.0,-6.2,148,1767,0.00,2.50,0.00,0.000,4,0.000,0.054,2116,3398,3892
$STATE,1778,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1778,begin apogee
$GC,1784,-0.33,0.0,115.9,5.5,149,1902,0.85,0.00,114.62,0.683,6,0.071,0.000,2298,1836,3296
$STATE,1903,end apogee,CONTROL_FINISHED_OK
$STATE,1903,begin climb
$GC,1904,1.17,146.6,118.5,0.0,161,2028,1.48,2.60,113.97,0.651,4,0.044,0.065,2632,434,2699
$GC,2144,1.17,146.6,94.2,13.8,180,2152,0.00,2.47,0.00,0.000,6,0.000,0.035,2632,1845,2698
$GC,2460,1.17,146.6,55.2,11.8,196,2464,0.00,2.58,0.00,0.000,4,0.000,0.064,2632,435,2699
$GC,2521,1.17,146.6,47.5,12.1,199,2525,0.00,2.42,0.00,0.000,6,0.000,0.036,2632,1844,2699
$GC,2717,1.17,146.6,25.8,10.8,217,2718,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,1844,2699
$GC,2916,1.17,146.6,6.6,8.5,247,2922,0.00,2.58,0.00,0.000,4,0.000,0.065,2632,435,2699
$GC,3040,1.50,415.1,4.0,-1.8,269,3110,0.30,2.42,63.15,0.597,2,0.043,0.036,2706,1849,2298
$STATE,3111,end climb,SURFACE_DEPTH_REACHED
$STATE,3111,begin surface coast
$FINISH,3.0,1.019620
$STATE,3264,end surface coast,CONTROL_FINISHED_OK
$STATE,3264,begin surface
$SM_CCo,3282,292.23,0.538,17,0,613,658.14
$SM_GC,2.03,0.00,0.00,292.23,0.000,0.000,0.538,46,2009,613,-10.71,0.25,658.14
$IRIDIUM_FIX,4748.51,-12224.57,170498,101055
$TT8_MAMPS,0.026078
$HUMID,1418
$INTERNAL_PRESSURE,8.16657
$TCM_TEMP,17.40
$XPDR_PINGS,79
$ALTIM_BOTTOM_PING,110.0,15.6
$24V_AH,23.6,7.164
$10V_AH,10.1,2.630
$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,26.450,30.600,291.750,292.225,0.000,32.984,37.568,78.583,22.000,0.000,0.000,17.450,507.918,1704.660,702.898,788.286,192.357,33.351,1081.916,0.000,775.613,0.000,19.098,0.000
$DEVICE_MAMPS,148.031,67.496,682.630,537.667,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,206.618,224.242,595.647,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15998,307
$CAP_FILE_SIZE,39613,0
$CFSIZE,260165632,257781760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,17,0
$GPS,210109,123438,4806.238,-12222.019,8,1.4,8,18.3