version: 66.03
glider: 138
mission: 1
dive: 16
start: 6 5 108 13 36 20
data:
$ID,138
$MISSION,1
$DIVE,16
$D_SURF,5
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$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,60
$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,125
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$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,48.150002
$TGT_DEFAULT_LON,-122.18
$TGT_AUTO_DEFAULT,0
$SM_CC,720
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-653.70789
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,436
$PITCH_MAX,3761
$C_PITCH,2675
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,397
$ROLL_MAX,3942
$ROLL_DEG,40
$C_ROLL_DIVE,2210
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3894
$C_VBD,3472
$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,61.200001
$PRESSURE_YINT,-2.687695
$PRESSURE_SLOPE,0.0001161078
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043603531
$SEABIRD_T_H,0.00063485908
$SEABIRD_T_I,2.482086e-05
$SEABIRD_T_J,2.6554371e-06
$SEABIRD_C_G,-9.9022598
$SEABIRD_C_H,1.1162066
$SEABIRD_C_I,-0.00084430829
$SEABIRD_C_J,0.00011615315
$GPS1,132945,4806.523,-12222.609,10,1.4,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-62.8
$GPS2,133521,4806.550,-12222.636,10,2.0,10,18.3
$SPEED_LIMITS,0.143,0.239
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.121,0.206
$KALMAN_X,-950.3,-30.9,-49.0,1279.3,-4.6
$KALMAN_Y,1636.6,31.4,17.1,-2048.4,-21.6
$MHEAD_RNG_PITCHd_Wd,311.3,3171,-19.3,-10.000
$D_GRID,105
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.36,-122.2,0.0,0.0,0,134,0.00,0.00,-111.72,0.000,2,0.000,0.000,430,2222,3797
$GC,136,-1.36,-122.2,3.5,-4.2,16,160,11.50,2.65,-2.30,0.000,4,0.171,0.067,2373,811,3896
$GC,457,-1.36,-122.2,25.2,-8.0,76,465,0.00,2.45,0.00,0.000,6,0.000,0.035,2373,2197,3898
$GC,545,-1.36,-122.2,31.7,-7.3,92,553,0.00,2.58,0.00,0.000,4,0.000,0.054,2373,811,3898
$GC,602,-1.36,-122.2,36.0,-8.1,102,610,0.00,2.47,0.00,0.000,6,0.000,0.033,2373,2212,3898
$GC,687,-1.36,-122.2,42.4,-7.3,118,694,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2213,3898
$GC,843,-1.36,-122.2,54.0,-7.6,149,849,0.00,2.47,0.00,0.000,4,0.000,0.044,2373,3621,3898
$GC,966,-1.36,-122.2,63.7,-7.8,173,972,0.00,2.45,0.00,0.000,6,0.000,0.031,2374,2206,3898
$GC,1121,-1.36,-122.2,75.6,-7.2,204,1129,0.00,2.55,0.00,0.000,4,0.000,0.058,2374,815,3898
$GC,1161,-1.36,-122.2,78.7,-8.1,211,1168,0.00,2.42,0.00,0.000,6,0.000,0.033,2374,2212,3898
$GC,1317,-1.36,-122.2,90.1,-7.3,242,1324,0.00,2.47,0.00,0.000,4,0.000,0.045,2374,3609,3898
$GC,1407,-1.36,-122.2,97.0,-8.0,259,1413,0.00,2.42,0.00,0.000,6,0.000,0.031,2374,2203,3898
$STATE,1518,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1518,begin apogee
$GC,1523,-0.31,0.0,105.2,7.1,281,1613,1.12,0.00,82.55,0.738,6,0.099,0.000,2600,2262,3471
$STATE,1614,end apogee,CONTROL_FINISHED_OK
$STATE,1614,begin climb
$GC,1616,1.36,122.2,107.0,0.0,296,1720,1.70,2.47,95.72,0.716,4,0.061,0.044,2964,3648,2972
$GC,1754,1.36,122.2,95.9,11.9,319,1760,0.00,2.45,0.00,0.000,6,0.000,0.031,2964,2244,2972
$GC,1908,1.36,122.2,78.2,10.8,350,1916,0.00,2.53,0.00,0.000,4,0.000,0.044,2965,3639,2971
$GC,1958,1.36,122.2,72.3,12.1,359,1963,0.00,2.42,0.00,0.000,6,0.000,0.031,2965,2242,2971
$GC,2112,1.36,122.2,55.0,10.6,390,2119,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2241,2971
$GC,2268,1.36,122.2,38.3,10.3,421,2276,0.00,2.53,0.00,0.000,4,0.000,0.044,2964,3638,2970
$GC,2310,1.36,122.2,33.8,10.9,428,2318,0.00,2.45,0.00,0.000,6,0.000,0.031,2965,2248,2971
$GC,2398,1.36,122.8,24.8,10.0,444,2406,0.00,2.50,0.00,0.000,4,0.000,0.044,2964,3635,2970
$GC,2480,1.36,122.8,16.5,10.5,459,2489,0.00,2.42,0.00,0.000,6,0.000,0.031,2965,2250,2970
$GC,2569,1.40,154.6,8.9,8.2,475,2605,0.00,2.60,26.10,0.671,4,0.000,0.056,2965,859,2840
$STATE,2627,end climb,SURFACE_DEPTH_REACHED
$STATE,2627,begin surface coast
$FINISH,3.5,1.019948
$STATE,2732,end surface coast,CONTROL_FINISHED_OK
$STATE,2733,begin surface
$SM_CCo,2755,375.80,0.637,4,0,536,720.20
$SM_GC,0.64,0.00,0.00,375.80,0.000,0.000,0.637,432,2218,536,-10.32,0.23,720.20
$IRIDIUM_FIX,4751.72,-12340.51,300897,121253
$TT8_MAMPS,0.027612
$HUMID,1735
$INTERNAL_PRESSURE,8.13508
$TCM_TEMP,16.50
$XPDR_PINGS,0
$24V_AH,23.4,2.142
$10V_AH,10.1,1.091
$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,25.700,49.825,204.375,375.800,0.000,23.832,30.174,187.218,0.000,0.000,0.000,11.678,770.758,221.799,657.495,1497.239,360.719,33.330,1192.546,0.000,915.227,0.000,0.465
$DEVICE_MAMPS,171.041,67.496,737.854,636.610,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,339.293,1267.456,606.171,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25339,504
$CAP_FILE_SIZE,52129,0
$CFSIZE,260165632,257605632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,050608,142959,4806.746,-12222.812,11,2.9,30,18.3