version: 66.03
glider: 138
mission: 2
dive: 9
start: 9 18 108 1 24 48
data:
$ID,138
$MISSION,2
$DIVE,9
$D_SURF,5
$D_FLARE,3
$D_TGT,120
$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,40
$T_MISSION,50
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52060
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$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,20
$TGT_DEFAULT_LON,-157
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5632.5742
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,436
$PITCH_MAX,3761
$C_PITCH,2830
$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,160
$ROLL_MAX,3940
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3894
$C_VBD,3422
$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,-3.4718134
$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,60
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$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
$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,0.0001615315
$GPS1,012041,4806.543,-12222.657,9,2.6,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.25
$_SM_ANGLEo,-65.7
$GPS2,012427,4806.536,-12222.631,13,1.4,13,18.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$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,123.5,1262,-14.9,-10.000
$D_GRID,120
$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,20,-1.17,-194.6,0.0,0.0,0,103,0.00,0.00,-81.28,0.000,6,0.000,0.000,429,2268,3896
$GC,106,-1.17,-194.6,3.9,-11.9,15,124,12.27,2.45,0.00,0.000,4,0.159,0.042,2566,3647,3898
$GC,361,-1.17,-194.6,40.8,-11.3,75,368,0.00,2.42,0.00,0.000,6,0.000,0.028,2566,2243,3898
$GC,503,-1.17,-194.6,54.2,-8.7,100,509,0.00,2.50,0.00,0.000,4,0.000,0.044,2566,3648,3899
$GC,633,-1.17,-194.6,65.8,-8.6,128,640,0.00,2.40,0.00,0.000,6,0.000,0.029,2566,2249,3898
$GC,774,-1.17,-194.6,77.6,-8.4,153,780,0.00,2.50,0.00,0.000,4,0.000,0.047,2566,845,3899
$GC,807,-1.17,-194.6,80.3,-9.4,159,813,0.00,2.42,0.00,0.000,6,0.000,0.031,2567,2251,3899
$GC,951,-1.17,-194.6,93.1,-8.5,184,956,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2251,3899
$GC,1092,-1.17,-194.6,105.5,-8.3,209,1097,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2251,3899
$GC,1232,-1.17,-194.6,117.7,-8.4,234,1238,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2251,3899
$STATE,1259,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1259,begin apogee
$GC,1264,-0.31,0.0,120.1,8.4,239,1360,0.88,0.00,91.07,0.749,6,0.055,0.000,2760,1987,3422
$STATE,1361,end apogee,CONTROL_FINISHED_OK
$STATE,1361,begin climb
$GC,1363,1.17,194.6,120.0,0.0,257,1527,1.48,2.58,151.25,0.732,4,0.052,0.050,3082,611,2626
$GC,1552,1.22,233.3,110.7,8.7,293,1589,0.00,2.45,31.77,0.700,6,0.000,0.031,3082,2016,2471
$GC,1724,1.22,234.6,93.7,10.0,324,1731,0.00,2.45,0.00,0.000,4,0.000,0.042,3082,3404,2467
$GC,1750,1.22,234.6,91.1,10.6,329,1756,0.00,2.45,0.00,0.000,6,0.000,0.032,3082,2004,2467
$GC,1891,1.22,234.6,76.8,10.9,354,1897,0.00,2.55,0.00,0.000,4,0.000,0.053,3082,594,2465
$GC,1917,1.22,234.6,74.1,11.1,359,1922,0.00,2.45,0.00,0.000,6,0.000,0.032,3082,2000,2464
$GC,2057,1.22,234.6,59.4,10.5,384,2063,0.00,2.47,0.00,0.000,4,0.000,0.043,3082,3408,2464
$GC,2083,1.22,234.6,56.6,10.6,389,2089,0.00,2.47,0.00,0.000,6,0.000,0.032,3082,1991,2464
$GC,2224,1.26,265.5,43.0,8.9,414,2256,0.00,0.00,26.42,0.680,6,0.000,0.000,3082,1991,2338
$GC,2393,1.26,270.0,27.1,9.8,444,2406,0.10,2.55,4.90,0.511,4,0.056,0.043,3116,3398,2321
$GC,2429,1.26,270.0,22.9,11.7,451,2435,0.00,2.42,0.00,0.000,6,0.000,0.032,3115,2001,2321
$GC,2503,1.26,270.0,14.3,11.4,464,2509,0.00,2.55,0.00,0.000,4,0.000,0.054,3115,591,2320
$GC,2536,1.29,289.7,11.1,9.3,471,2560,0.00,2.45,17.48,0.657,6,0.000,0.032,3115,2008,2241
$STATE,2599,end climb,SURFACE_DEPTH_REACHED
$STATE,2599,begin surface coast
$FINISH,1.1,1.019850
$STATE,2649,end surface coast,CONTROL_FINISHED_OK
$STATE,2650,begin surface
$SM_CCo,2670,65.45,0.634,2,0,1790,400.08
$SM_GC,-0.09,0.00,0.00,65.45,0.000,0.000,0.634,430,2262,1790,-11.04,0.34,400.08
$IRIDIUM_FIX,4751.72,-12340.51,131297,000033
$TT8_MAMPS,0.026845
$HUMID,2037
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.0,32.5
$24V_AH,23.5,0.969
$10V_AH,10.1,0.449
$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,26.675,45.425,322.900,65.450,0.000,23.426,36.845,87.213,1.500,0.000,0.000,14.779,708.324,726.727,432.928,885.854,235.624,0.000,910.630,0.000,877.252,0.000,12.885
$DEVICE_MAMPS,158.769,53.690,749.359,634.309,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,325.078,549.569,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22297,491
$CAP_FILE_SIZE,49466,0
$CFSIZE,260165632,257036288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,180908,021137,4806.241,-12222.466,11,1.3,27,18.3