version: 66.03
glider: 152
mission: 1
dive: 15
start: 4 25 108 8 22 20
data:
$ID,152
$MISSION,1
$DIVE,15
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$D_NO_BLEED,500
$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,-1
$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,1.023
$MASS,51622
$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,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,600
$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,-4591.8496
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,446
$PITCH_MAX,3720
$C_PITCH,2976
$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,242
$ROLL_MAX,3915
$ROLL_DEG,40
$C_ROLL_DIVE,2375
$C_ROLL_CLIMB,2275
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,540
$VBD_MAX,3950
$C_VBD,3388
$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,-18.272327
$PRESSURE_SLOPE,0.0001162351
$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,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$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
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043139826
$SEABIRD_T_H,0.00063131854
$SEABIRD_T_I,2.3268194e-05
$SEABIRD_T_J,2.3261061e-06
$SEABIRD_C_G,-10.052959
$SEABIRD_C_H,1.1241329
$SEABIRD_C_I,-0.00057783123
$SEABIRD_C_J,0.00013255829
$GPS1,081532,4806.935,-12223.202,8,1.5,13,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-69.4
$GPS2,082123,4806.907,-12223.201,13,2.4,32,18.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.114,0.272
$KALMAN_X,-612.4,-141.5,-32.2,1005.4,24.6
$KALMAN_Y,-626.7,88.5,10.7,-985.4,-128.8
$MHEAD_RNG_PITCHd_Wd,319.0,2252,-14.9,-10.000
$D_GRID,101
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-1.17,-195.5,0.0,0.0,0,93,0.00,0.00,-73.07,0.000,2,0.000,0.000,446,2390,2656
$GC,95,-1.17,-195.5,3.2,-3.9,12,159,12.45,2.50,-41.17,0.000,4,0.166,0.070,2716,977,3953
$GC,274,-1.17,-195.5,16.3,-7.8,49,281,0.00,2.38,0.00,0.000,6,0.000,0.044,2716,2368,3953
$GC,346,-1.17,-195.5,22.5,-8.9,65,353,0.00,2.53,0.00,0.000,4,0.000,0.069,2716,3775,3953
$GC,376,-1.17,-195.5,25.3,-9.7,71,383,0.00,2.38,0.00,0.000,6,0.000,0.035,2716,2364,3953
$GC,448,-1.17,-195.5,32.1,-9.5,87,455,0.00,2.40,0.00,0.000,4,0.000,0.059,2716,990,3953
$GC,474,-1.17,-195.5,34.7,-9.7,92,481,0.00,2.38,0.00,0.000,6,0.000,0.044,2716,2377,3954
$GC,545,-1.17,-195.5,41.5,-9.6,108,551,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2377,3953
$GC,687,-1.17,-195.5,55.1,-9.1,139,692,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2377,3954
$GC,825,-1.17,-195.5,68.1,-9.3,170,832,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2377,3953
$GC,972,-1.17,-195.5,81.3,-9.5,201,978,0.00,2.45,0.00,0.000,4,0.000,0.066,2716,980,3954
$GC,1020,-1.17,-195.5,85.9,-9.2,211,1026,0.00,2.38,0.00,0.000,6,0.000,0.047,2716,2382,3954
$GC,1158,-1.17,-195.5,98.8,-9.3,242,1164,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2382,3953
$STATE,1183,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1183,begin apogee
$GC,1187,-0.31,0.0,101.2,9.3,247,1305,0.88,0.00,111.18,0.839,6,0.095,0.000,2901,2264,3388
$STATE,1305,end apogee,CONTROL_FINISHED_OK
$STATE,1305,begin climb
$GC,1307,1.17,195.5,104.4,0.0,268,1470,1.50,0.00,154.65,0.801,6,0.073,0.000,3228,2262,2591
$GC,1603,1.17,195.5,78.7,10.7,327,1609,0.00,2.53,0.00,0.000,4,0.000,0.070,3228,3674,2590
$GC,1627,1.17,195.5,75.9,11.3,332,1634,0.00,2.38,0.00,0.000,6,0.000,0.040,3228,2289,2590
$GC,1769,1.17,195.5,61.0,10.6,363,1775,0.00,2.53,0.00,0.000,4,0.000,0.076,3228,878,2590
$GC,1800,1.17,195.5,57.8,10.9,369,1806,0.00,2.38,0.00,0.000,6,0.000,0.048,3228,2275,2590
$GC,1938,1.18,202.5,43.2,9.8,400,1951,0.00,2.53,7.30,0.689,4,0.000,0.071,3228,3685,2561
$GC,1986,1.18,202.5,38.0,11.0,410,1993,0.00,2.40,0.00,0.000,6,0.000,0.039,3228,2277,2561
$GC,2058,1.18,202.5,30.3,10.5,426,2065,0.00,2.53,0.00,0.000,4,0.000,0.074,3228,873,2561
$GC,2079,1.18,202.5,28.1,10.6,430,2086,0.00,2.40,0.00,0.000,6,0.000,0.046,3228,2274,2561
$GC,2150,1.18,202.5,20.7,10.2,446,2157,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,2273,2561
$GC,2222,1.19,212.2,13.5,9.7,462,2237,0.00,2.58,9.48,0.723,4,0.000,0.070,3228,3681,2523
$GC,2272,1.19,212.2,8.5,10.3,472,2279,0.00,2.40,0.00,0.000,6,0.000,0.038,3228,2271,2522
$GC,2344,1.52,477.8,4.8,0.8,488,2457,0.30,0.00,109.38,0.763,2,0.055,0.000,3307,2271,1959
$STATE,2457,end climb,SURFACE_DEPTH_REACHED
$STATE,2458,begin surface coast
$FINISH,3.0,1.017081
$STATE,2622,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2622,begin surface
$SM_CCo,2642,173.40,0.723,3,0,942,600.00
$SM_GC,1.47,0.00,0.00,173.40,0.000,0.000,0.723,443,2387,942,-11.65,0.34,600.00
$IRIDIUM_FIX,4748.51,-12224.57,200797,070703
$TT8_MAMPS,0.021476
$HUMID,1486
$INTERNAL_PRESSURE,8.98157
$TCM_TEMP,14.70
$XPDR_PINGS,32
$ALTIM_BOTTOM_PING,80.3,40.1
$24V_AH,23.5,2.731
$10V_AH,10.1,1.335
$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,27.850,44.325,391.975,173.400,0.000,23.785,23.808,202.225,8.500,0.000,0.000,34.440,781.179,197.909,587.009,1300.514,333.474,33.333,1178.689,0.000,1281.252,0.000,5.453
$DEVICE_MAMPS,165.672,75.933,839.098,722.514,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,378.430,274.546,961.935,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28672,545
$CAP_FILE_SIZE,56447,0
$CFSIZE,260165632,258232320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,3,0
$GPS,250408,091038,4807.094,-12223.416,33,1.0,33,18.3