version: 66.04
glider: 128
mission: 2
dive: 8
start: 10 15 108 1 50 22
data:
$ID,128
$MISSION,2
$DIVE,8
$D_SURF,5
$D_FLARE,3
$D_TGT,150
$D_ABORT,1100
$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,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,180
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51675
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,20
$TGT_DEFAULT_LON,-158
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-107802.45
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,60
$PITCH_MAX,4070
$C_PITCH,2865
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,75
$ROLL_MAX,4020
$ROLL_DEG,40
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,204
$VBD_MAX,3580
$C_VBD,2750
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,1
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-13.435914
$PRESSURE_SLOPE,0.0001162386
$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,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$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
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043206438
$SEABIRD_T_H,0.00063139666
$SEABIRD_T_I,2.5065803e-05
$SEABIRD_T_J,2.8780487e-06
$SEABIRD_C_G,-9.8634701
$SEABIRD_C_H,1.1197931
$SEABIRD_C_I,-0.0018544764
$SEABIRD_C_J,0.0002103937
$GPS1,014214,4805.972,-12222.010,11,1.0,11,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-68.9
$GPS2,015003,4805.932,-12221.989,13,2.0,13,18.3
$SPEED_LIMITS,0.173,0.215
$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,308.7,4566,-22.4,-10.000
$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,18,-1.24,-97.3,0.0,0.0,0,90,0.00,0.00,-69.75,0.000,2,0.000,0.000,54,2030,2960
$GC,96,-1.24,-97.3,3.0,-3.7,12,116,9.68,2.35,-3.83,0.000,4,0.217,0.060,2461,642,3147
$GC,366,-1.24,-97.3,39.0,-10.9,72,372,0.00,2.30,0.00,0.000,6,0.000,0.034,2452,2062,3148
$GC,445,-1.24,-97.3,47.1,-10.4,88,450,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2062,3148
$GC,589,-1.24,-97.3,62.7,-11.1,119,595,0.00,2.35,0.00,0.000,4,0.000,0.044,2452,642,3149
$GC,649,-1.24,-97.3,69.7,-11.9,131,655,0.00,2.30,0.00,0.000,6,0.000,0.035,2442,2058,3149
$GC,802,-1.24,-97.3,86.9,-11.7,162,808,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,2058,3149
$GC,948,-1.24,-97.3,103.4,-11.4,193,954,0.00,2.30,0.00,0.000,4,0.000,0.046,2431,3470,3149
$GC,994,-1.24,-97.3,108.7,-11.2,202,1002,0.08,2.33,0.00,0.000,6,0.138,0.033,2456,2039,3149
$STATE,1092,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1092,begin apogee
$GC,1104,-0.25,0.0,119.3,10.2,223,1183,1.02,0.00,71.85,0.829,6,0.127,0.000,2776,2035,2749
$STATE,1184,end apogee,CONTROL_FINISHED_OK
$STATE,1184,begin climb
$GC,1189,1.24,97.3,122.2,0.0,237,1269,1.42,0.00,72.35,0.759,6,0.066,0.000,3261,2035,2352
$GC,1412,1.24,97.3,102.7,11.3,281,1417,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,2034,2352
$GC,1555,1.24,97.3,87.4,10.9,312,1562,0.00,2.40,0.00,0.000,4,0.000,0.045,3261,3464,2352
$GC,1585,1.24,97.3,83.9,11.8,317,1591,0.00,2.30,0.00,0.000,6,0.000,0.033,3271,2057,2352
$GC,1734,1.24,97.3,67.9,11.2,348,1740,0.00,2.35,0.00,0.000,4,0.000,0.045,3271,3460,2352
$GC,1763,1.24,97.3,64.1,11.3,353,1770,0.00,2.30,0.00,0.000,6,0.000,0.033,3282,2045,2352
$GC,1913,1.24,97.3,47.8,10.9,384,1918,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,2045,2352
$GC,2054,1.24,97.3,32.0,10.9,415,2061,0.00,2.38,0.00,0.000,4,0.000,0.046,3282,3457,2352
$GC,2075,1.24,97.3,29.8,10.3,418,2081,0.00,2.28,0.00,0.000,6,0.000,0.034,3293,2048,2353
$GC,2151,1.24,100.2,22.1,9.8,434,2163,0.00,2.35,3.85,0.564,4,0.000,0.046,3304,643,2341
$GC,2187,1.25,102.3,18.6,9.9,440,2200,0.15,2.28,3.60,0.530,6,0.141,0.035,3265,2057,2331
$GC,2268,1.26,114.4,11.1,9.2,457,2288,0.00,2.38,10.23,0.828,4,0.000,0.046,3265,3459,2284
$GC,2297,1.31,157.1,9.1,7.1,461,2335,0.00,2.30,32.10,0.697,6,0.000,0.034,3274,2046,2109
$STATE,2376,end climb,SURFACE_DEPTH_REACHED
$STATE,2376,begin surface coast
$FINISH,0.4,1.020309
$STATE,2451,end surface coast,CONTROL_FINISHED_OK
$STATE,2451,begin surface
$SM_CCo,2478,98.03,0.692,0,0,1323,350.04
$SM_GC,1.35,0.00,0.00,98.03,0.000,0.000,0.692,56,2035,1323,-8.78,-0.42,350.04
$IRIDIUM_FIX,4751.72,-12340.51,090198,010106
$TT8_MAMPS,0.026078
$HUMID,1657
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,80.2,48.9
$24V_AH,24.5,0.937
$10V_AH,10.8,0.476
$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,21.350,37.225,193.975,98.025,0.000,22.352,32.607,216.663,1.000,0.000,0.000,15.133,747.600,455.246,364.637,849.968,635.374,0.000,814.807,0.000,905.889,0.000,5.560,0.000
$DEVICE_MAMPS,217.061,59.826,829.127,691.834,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,341.149,560.066,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22245,494
$CAP_FILE_SIZE,50188,0
$CFSIZE,260165632,226553856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151008,023438,4806.044,-12222.126,12,1.6,30,18.3