version: 66.04
glider: 503
mission: 2
dive: 21
start: 5 21 109 14 47 13
data:
$ID,503
$MISSION,2
$DIVE,21
$D_SURF,4.5
$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,5
$T_NO_W,600
$USE_BATHY,-4
$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,1.0233001
$MASS,51629
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,0
$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,700
$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,-2606.4709
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,203
$PITCH_MAX,3889
$C_PITCH,2844
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,37
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2393
$C_ROLL_CLIMB,2393
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,466
$VBD_MAX,3969
$C_VBD,3660
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,360
$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,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-51.611187
$PRESSURE_SLOPE,0.00011732637
$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,50
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043281103
$SEABIRD_T_H,0.00062152545
$SEABIRD_T_I,2.1491383e-05
$SEABIRD_T_J,2.0368557e-06
$SEABIRD_C_G,-0.10162479
$SEABIRD_C_H,1.1594115
$SEABIRD_C_I,4.3937558e-05
$SEABIRD_C_J,0.00011023274
$GPS1,143519,4806.089,-12222.210,13,1.9,30,18.3
$_CALLS,3
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-69.1
$GPS2,144634,4806.057,-12222.159,12,2.3,31,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.132,0.224
$KALMAN_X,1394.5,117.8,-43.6,-1617.0,70.9
$KALMAN_Y,-5797.3,-393.4,-86.0,5765.4,-145.5
$MHEAD_RNG_PITCHd_Wd,311.2,4258,-17.5,-10.000
$D_GRID,107
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,11,-0.65,-146.6,0.0,0.0,0,136,0.00,0.00,-118.97,0.000,6,0.000,0.000,201,2401,3970
$GC,138,-0.65,-146.6,3.1,-3.7,22,151,9.48,2.20,0.00,0.000,4,0.239,0.045,2621,3768,3972
$GC,154,-0.65,-146.6,4.8,-7.8,25,160,0.00,2.17,0.00,0.000,6,0.000,0.036,2621,2394,3973
$GC,225,-0.65,-146.6,8.5,-7.6,41,230,0.00,2.20,0.00,0.000,4,0.000,0.043,2620,978,3973
$GC,369,-0.65,-146.6,19.3,-6.8,74,375,0.00,2.22,0.00,0.000,6,0.000,0.048,2618,2392,3974
$GC,439,-0.65,-146.6,25.3,-9.4,90,445,0.00,2.20,0.00,0.000,4,0.000,0.055,2613,3750,3975
$GC,471,-0.65,-146.6,28.4,-10.1,97,477,0.00,2.12,0.00,0.000,6,0.000,0.038,2613,2388,3974
$GC,541,-0.65,-146.6,34.8,-9.1,113,547,0.00,2.17,0.00,0.000,4,0.000,0.044,2613,979,3974
$GC,594,-0.65,-146.6,40.1,-10.0,125,600,0.00,2.28,0.00,0.000,6,0.000,0.048,2613,2392,3974
$GC,730,-0.65,-146.6,52.9,-9.3,156,735,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2392,3974
$GC,865,-0.65,-146.6,65.7,-9.3,187,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2392,3975
$GC,1000,-0.65,-146.6,77.9,-8.8,218,1006,0.00,2.17,0.00,0.000,4,0.000,0.044,2613,983,3975
$GC,1044,-0.65,-146.6,82.1,-9.6,228,1050,0.00,2.25,0.00,0.000,6,0.000,0.048,2613,2388,3975
$GC,1180,-0.65,-146.6,94.4,-8.5,259,1185,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2389,3975
$GC,1314,-0.65,-146.6,106.1,-8.7,290,1319,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2389,3974
$STATE,1326,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1326,begin apogee
$GC,1329,-0.14,0.0,107.2,8.3,293,1389,0.55,0.00,56.72,0.618,6,0.134,0.000,2794,2389,3659
$STATE,1390,end apogee,CONTROL_FINISHED_OK
$STATE,1390,begin climb
$GC,1391,0.65,146.6,108.0,0.0,304,1506,0.70,0.00,108.32,0.588,6,0.072,0.000,3056,2389,3061
$GC,1636,0.65,146.6,71.3,19.2,355,1642,0.00,2.30,0.00,0.000,4,0.000,0.048,3066,988,3060
$GC,1697,0.65,146.6,60.0,18.2,369,1703,0.00,2.30,0.00,0.000,6,0.000,0.046,3066,2395,3058
$GC,1833,0.65,146.6,34.9,18.4,400,1839,0.00,2.25,0.00,0.000,4,0.000,0.048,3077,980,3057
$GC,1868,0.65,146.6,28.2,18.3,408,1874,0.00,2.28,0.00,0.000,6,0.000,0.046,3077,2384,3057
$GC,1938,0.65,146.6,15.5,17.9,424,1944,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2384,3057
$GC,2008,0.65,146.6,4.8,12.7,440,2014,0.00,2.25,0.00,0.000,4,0.000,0.048,3087,984,3057
$STATE,2016,end climb,SURFACE_DEPTH_REACHED
$STATE,2017,begin surface coast
$FINISH,1.8,1.021047
$STATE,2056,end surface coast,CONTROL_FINISHED_OK
$STATE,2056,begin surface
$SM_CCo,2070,245.25,0.517,0,0,806,700.07
$SM_GC,1.13,0.00,0.00,245.25,0.000,0.000,0.517,200,2401,806,-8.26,0.20,700.07
$IRIDIUM_FIX,4748.51,-12224.57,150898,141457
$TT8_MAMPS,0.052156
$HUMID,1916
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,17.70
$XPDR_PINGS,1
$24V_AH,24.3,2.360
$10V_AH,10.6,1.667
$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,18.600,35.675,165.050,245.250,0.000,84.679,138.304,241.064,3.250,0.000,0.000,34.715,0.000,1008.175,540.015,912.802,527.971,33.323,928.369,0.000,711.826,0.000,19.633,0.000
$DEVICE_MAMPS,239.304,55.224,618.202,516.958,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,304.603,517.595,448.658,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28628,451
$CAP_FILE_SIZE,53722,0
$CFSIZE,260165632,258093056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,210509,152614,4806.193,-12222.305,8,1.7,8,18.3