version: 66.03
glider: 138
mission: 2
dive: 19
start: 9 18 108 10 14 24
data:
$ID,138
$MISSION,2
$DIVE,19
$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,-5838.3159
$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,27
$R_STBD_OVSHOOT,33
$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
$GPS1,101008,4807.452,-12223.663,9,1.4,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.25
$_SM_ANGLEo,-67.9
$GPS2,101403,4807.455,-12223.660,10,1.5,10,18.3
$SPEED_LIMITS,0.173,0.295
$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,319.1,1094,-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,-194.6,0.0,0.0,0,93,0.00,0.00,-70.93,0.000,2,0.000,0.000,433,2257,3675
$GC,95,-1.17,-194.6,3.7,-11.9,13,120,12.55,2.55,-4.05,0.000,4,0.168,0.060,2566,844,3898
$GC,357,-1.17,-194.6,38.7,-10.6,74,363,0.00,2.42,0.00,0.000,6,0.000,0.031,2566,2252,3899
$GC,431,-1.17,-194.6,46.0,-9.8,87,436,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2252,3899
$GC,571,-1.17,-194.6,59.4,-9.3,112,578,0.00,2.50,0.00,0.000,4,0.000,0.046,2566,845,3899
$GC,615,-1.17,-194.6,63.7,-9.7,121,621,0.00,2.42,0.00,0.000,6,0.000,0.031,2566,2250,3899
$GC,756,-1.17,-194.6,77.1,-9.4,146,762,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2249,3899
$GC,901,-1.17,-194.6,90.2,-9.2,171,906,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2250,3899
$GC,1042,-1.17,-194.6,103.3,-9.1,196,1048,0.00,2.50,0.00,0.000,4,0.000,0.045,2565,836,3899
$GC,1086,-1.17,-194.6,107.5,-8.9,205,1092,0.00,2.45,0.00,0.000,6,0.000,0.031,2565,2259,3899
$GC,1229,-1.17,-194.6,115.2,0.3,230,1236,0.00,2.50,0.00,0.000,4,0.000,0.044,2565,841,3899
$GC,1493,-1.17,-194.6,115.2,0.3,288,1499,0.00,2.42,0.00,0.000,6,0.000,0.032,2565,2259,3899
$STATE,1509,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1509,begin apogee
$GC,1514,-0.31,0.0,115.2,-0.2,291,1610,0.90,0.00,91.25,0.752,6,0.074,0.000,2756,1980,3422
$STATE,1610,end apogee,CONTROL_FINISHED_OK
$STATE,1611,begin climb
$GC,1613,1.17,194.6,115.0,0.0,309,1777,1.52,2.60,151.40,0.733,4,0.059,0.042,3082,3401,2627
$GC,1824,1.18,205.1,104.0,9.6,350,1841,0.00,2.42,9.77,0.625,6,0.000,0.030,3082,2008,2584
$GC,1978,1.22,232.4,89.7,9.1,377,2005,0.00,0.00,22.90,0.692,6,0.000,0.000,3082,2008,2474
$GC,2140,1.24,252.0,73.7,9.3,406,2162,0.00,0.00,17.00,0.672,6,0.000,0.000,3082,2008,2394
$GC,2297,1.27,277.0,58.8,9.1,434,2325,0.10,0.00,21.77,0.676,6,0.055,0.000,3117,2008,2291
$GC,2461,1.27,277.0,40.5,11.9,463,2467,0.00,2.58,0.00,0.000,4,0.000,0.051,3117,592,2287
$GC,2487,1.27,277.0,37.3,13.0,468,2493,0.00,2.47,0.00,0.000,6,0.000,0.031,3117,2008,2288
$GC,2561,1.27,277.0,28.6,11.1,481,2568,0.00,2.47,0.00,0.000,4,0.000,0.042,3116,3405,2287
$GC,2595,1.27,277.0,24.6,11.3,488,2602,0.00,2.45,0.00,0.000,6,0.000,0.032,3117,1998,2287
$GC,2670,1.27,277.0,16.2,10.8,501,2675,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1998,2287
$GC,2745,1.27,277.0,8.5,10.1,514,2750,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1998,2288
$STATE,2783,end climb,SURFACE_DEPTH_REACHED
$STATE,2783,begin surface coast
$FINISH,1.1,1.020088
$STATE,2846,end surface coast,CONTROL_FINISHED_OK
$STATE,2846,begin surface
$SM_CCo,2867,68.85,0.649,1,0,1790,400.08
$SM_GC,-0.25,0.00,0.00,68.85,0.000,0.000,0.649,431,2258,1790,-11.04,0.23,400.08
$IRIDIUM_FIX,4751.72,-12340.51,131297,090936
$TT8_MAMPS,0.026845
$HUMID,1939
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,17.10
$XPDR_PINGS,0
$24V_AH,23.4,1.869
$10V_AH,10.1,0.894
$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,27.050,35.700,314.100,68.850,0.000,22.288,34.597,100.233,2.250,0.000,0.000,11.712,771.727,791.064,420.949,953.901,253.311,0.000,919.812,0.000,949.339,0.000,18.631
$DEVICE_MAMPS,167.973,59.826,752.427,648.882,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,353.494,584.163,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25306,532
$CAP_FILE_SIZE,51115,0
$CFSIZE,260165632,256724992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180908,110429,4807.715,-12223.960,9,99.0,28,18.3