version: 66.04
glider: 5
mission: 4
dive: 21
start: 10 16 108 10 52 38
data:
$ID,5
$MISSION,4
$DIVE,21
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,50
$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,80
$T_MISSION,100
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,12
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,52
$TGT_DEFAULT_LON,-7
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-85938.453
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2650
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2190
$C_ROLL_CLIMB,2190
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,360
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,3240
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0016
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-24.906118
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$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
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043761111
$SEABIRD_T_H,0.00064345129
$SEABIRD_T_I,2.5632376e-05
$SEABIRD_T_J,2.7382036e-06
$SEABIRD_C_G,-10.188265
$SEABIRD_C_H,1.1432956
$SEABIRD_C_I,-0.00020702372
$SEABIRD_C_J,0.00012956691
$GPS1,104716,4807.882,-12224.081,8,2.8,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-68.8
$GPS2,105145,4807.925,-12224.133,26,1.9,34,18.3
$SPEED_LIMITS,0.108,0.225
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.108,0.001
$KALMAN_X,-706.7,330.6,213.3,-950.3,-233.9
$KALMAN_Y,2902.6,-876.6,7.4,-2007.6,134.3
$MHEAD_RNG_PITCHd_Wd,71.3,215,-27.4,-6.250
$D_GRID,150
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.87,-30.7,0.0,0.0,0,98,0.00,0.00,-79.03,0.000,6,0.000,0.000,421,2191,3365
$GC,102,-1.88,-37.6,3.7,-5.3,14,122,9.38,2.60,-0.75,0.000,4,0.134,0.074,2236,3597,3395
$GC,376,-1.51,-46.9,29.4,-5.0,47,383,0.43,2.45,-0.57,0.000,6,0.108,0.046,2322,2201,3436
$GC,577,-1.45,-47.2,41.0,-6.2,65,583,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2183,3436
$GC,775,-1.41,-47.2,54.5,-6.7,81,777,0.10,0.00,0.00,0.000,6,0.115,0.000,2339,2183,3435
$GC,1082,-1.41,-47.2,75.1,-7.1,96,1084,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2183,3436
$GC,1392,-1.41,-47.2,95.0,-6.4,111,1396,0.00,2.50,0.00,0.000,4,0.000,0.059,2340,785,3436
$GC,1442,-1.41,-47.2,98.5,-7.0,113,1446,0.00,2.45,0.00,0.000,6,0.000,0.051,2340,2161,3436
$STATE,1700,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1700,begin apogee
$GC,1707,-0.33,0.0,114.6,6.0,136,1754,1.10,0.00,39.05,0.819,6,0.087,0.000,2572,2159,3239
$STATE,1754,end apogee,CONTROL_FINISHED_OK
$STATE,1754,begin climb
$GC,1757,1.90,47.2,115.6,0.0,141,1803,2.17,2.58,37.75,0.814,4,0.054,0.055,3068,788,3047
$GC,1917,1.59,47.2,95.6,15.2,154,1923,0.38,2.50,0.00,0.000,6,0.108,0.049,2998,2190,3046
$GC,2245,1.51,47.2,56.0,11.4,170,2246,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2190,3047
$GC,2562,1.46,47.2,21.6,9.2,197,2567,0.15,2.53,0.00,0.000,4,0.102,0.060,2969,3598,3047
$GC,2625,1.42,47.2,16.1,8.9,205,2631,0.00,2.50,0.00,0.000,6,0.000,0.046,2968,2178,3047
$GC,2700,1.42,47.2,10.3,7.1,218,2707,0.00,2.58,0.00,0.000,4,0.000,0.061,2969,3599,3047
$GC,2747,1.42,47.2,7.0,6.9,226,2754,0.00,2.33,0.00,0.000,6,0.000,0.045,2969,2248,3047
$GC,2823,1.65,102.8,6.6,-1.3,239,2873,0.17,2.53,43.25,0.754,4,0.051,0.060,3016,3601,2820
$GC,2886,1.65,134.9,5.9,1.9,249,2917,0.00,2.35,24.30,0.732,6,0.000,0.045,3017,2246,2688
$GC,2987,1.83,172.4,4.3,1.1,266,3019,0.15,2.53,26.45,0.729,4,0.056,0.059,3053,3601,2535
$STATE,3023,end climb,SURFACE_DEPTH_REACHED
$STATE,3023,begin surface coast
$FINISH,-0.3,1.020299
$STATE,3305,end surface coast,CONTROL_FINISHED_OK
$STATE,3305,begin surface
$SM_CCo,3331,125.53,0.723,2,0,1608,400.08
$SM_GC,0.57,0.00,0.00,125.53,0.000,0.000,0.723,421,2153,1608,-10.25,-1.05,400.08
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1727
$TCM_TEMP,18.20
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.6,19.8
$ALTIM_BOTTOM_PING,90.9,33.0
$24V_AH,24.0,2.323
$10V_AH,10.1,0.843
$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,25.600,34.975,170.800,125.525,0.000,37.759,26.331,91.595,3.000,0.000,0.000,34.899,546.012,1839.641,372.479,720.731,271.822,33.313,719.155,0.000,695.065,0.000,14.571,0.000
$DEVICE_MAMPS,134.225,74.399,819.156,722.514,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,223.194,236.472,555.144,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15980,322
$CAP_FILE_SIZE,42448,0
$CFSIZE,254472192,252690432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,2,0
$GPS,161008,115137,4808.106,-12224.066,33,1.0,34,18.3