version: 66.04
glider: 130
mission: 5
dive: 14
start: 5 20 109 9 8 16
data:
$ID,130
$MISSION,5
$DIVE,14
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$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,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51945
$NAV_MODE,1
$FERRY_MAX,45
$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,44.380001
$TGT_DEFAULT_LON,-125.01
$TGT_AUTO_DEFAULT,0
$SM_CC,675
$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,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-52153.582
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,417
$PITCH_MAX,3725
$C_PITCH,2845
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,162
$ROLL_MAX,3945
$ROLL_DEG,40
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,3
$VBD_MIN,516
$VBD_MAX,3960
$C_VBD,3437
$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,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-8.2383127
$PRESSURE_SLOPE,0.0001159091
$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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$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,0.0044082953
$SEABIRD_T_H,0.00065181591
$SEABIRD_T_I,3.2922526e-05
$SEABIRD_T_J,4.287429e-06
$SEABIRD_C_G,-9.794486
$SEABIRD_C_H,1.1032488
$SEABIRD_C_I,-0.0011085917
$SEABIRD_C_J,0.0001701656
$GPS1,090007,4806.939,-12222.964,28,1.2,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-68.1
$GPS2,090720,4807.019,-12223.028,11,1.2,11,18.3
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.145,0.225
$KALMAN_X,-296.8,153.7,-71.5,605.0,-69.2
$KALMAN_Y,1285.1,-348.0,64.8,-2612.7,93.4
$MHEAD_RNG_PITCHd_Wd,308.9,2179,-16.9,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.25,-155.7,0.0,0.0,0,135,0.00,0.00,-114.70,0.000,2,0.000,0.000,412,1937,3551
$GC,140,-1.25,-155.7,3.0,-2.3,19,174,11.95,2.55,-12.95,0.000,4,0.146,0.064,2568,3355,3962
$GC,424,-1.20,-155.7,27.2,-10.8,81,431,0.00,2.45,0.00,0.000,6,0.000,0.044,2568,1946,3962
$GC,502,-1.16,-155.7,35.1,-9.9,94,509,0.10,2.50,0.00,0.000,4,0.100,0.053,2588,3358,3962
$GC,646,-1.19,-155.7,48.9,-9.4,124,652,0.00,2.45,0.00,0.000,6,0.000,0.044,2588,1950,3962
$GC,791,-1.19,-155.7,62.4,-8.8,149,797,0.00,2.53,0.00,0.000,4,0.000,0.062,2588,542,3962
$GC,846,-1.19,-155.7,68.0,-9.9,160,853,0.00,2.42,0.00,0.000,6,0.000,0.042,2588,1953,3962
$GC,991,-1.22,-155.7,81.2,-9.0,185,997,0.00,2.47,0.00,0.000,4,0.000,0.056,2588,3358,3962
$GC,1032,-1.27,-155.7,85.0,-9.4,193,1039,0.00,2.45,0.00,0.000,6,0.000,0.045,2588,1945,3962
$GC,1177,-1.31,-155.7,97.8,-9.3,218,1183,0.12,2.50,0.00,0.000,4,0.055,0.061,2554,545,3962
$GC,1214,-1.26,-155.7,101.9,-11.7,225,1220,0.00,2.42,0.00,0.000,6,0.000,0.042,2554,1953,3962
$STATE,1224,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1224,begin apogee
$GC,1233,-0.31,0.0,103.5,11.3,227,1336,1.05,0.00,97.47,0.665,6,0.076,0.000,2773,2068,3437
$STATE,1337,end apogee,CONTROL_FINISHED_OK
$STATE,1337,begin climb
$GC,1341,1.25,155.7,107.4,0.0,246,1467,1.52,0.00,117.30,0.649,6,0.051,0.000,3113,2068,2801
$GC,1606,1.21,164.8,89.3,9.6,293,1617,0.00,0.00,8.55,0.549,6,0.000,0.000,3113,2068,2765
$GC,1756,1.19,178.9,74.5,9.4,319,1773,0.00,0.00,12.43,0.580,6,0.000,0.000,3113,2068,2706
$GC,1910,1.16,178.9,58.6,10.1,346,1916,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2068,2705
$GC,2053,1.16,180.4,44.1,9.9,371,2058,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2067,2705
$GC,2195,1.19,201.2,30.4,9.1,396,2221,0.00,2.58,18.60,0.588,4,0.000,0.061,3113,645,2615
$GC,2248,1.15,201.2,25.3,10.2,405,2255,0.00,2.42,0.00,0.000,6,0.000,0.043,3112,2041,2615
$GC,2324,1.17,217.1,17.6,9.3,418,2343,0.00,0.00,14.07,0.571,6,0.000,0.000,3113,2041,2550
$GC,2413,1.18,224.5,8.8,9.7,433,2427,0.00,0.00,7.18,0.509,6,0.000,0.000,3112,2042,2520
$STATE,2469,end climb,SURFACE_DEPTH_REACHED
$STATE,2469,begin surface coast
$FINISH,2.3,1.018731
$STATE,2520,end surface coast,CONTROL_FINISHED_OK
$STATE,2520,begin surface
$SM_CCo,2547,270.55,0.587,0,0,683,675.07
$SM_GC,1.75,0.00,0.00,270.55,0.000,0.000,0.587,411,1941,683,-11.19,-0.25,675.07
$IRIDIUM_FIX,4748.51,-12226.29,140898,080842
$TT8_MAMPS,0.025311
$HUMID,1549
$INTERNAL_PRESSURE,9.17882
$TCM_TEMP,15.60
$XPDR_PINGS,0
$24V_AH,23.6,1.884
$10V_AH,10.8,1.558
$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,26.925,30.050,275.600,270.550,0.000,23.369,33.152,210.744,0.000,0.000,0.000,12.696,661.722,635.346,620.238,797.612,549.246,33.330,1065.519,0.000,856.126,0.000,0.534,0.000
$DEVICE_MAMPS,145.730,67.496,664.989,586.755,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,360.083,190.979,369.927,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22238,452
$CAP_FILE_SIZE,49608,0
$CFSIZE,260165632,185933824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,200509,095608,4807.286,-12223.232,11,1.4,11,18.3