version: 66.04
glider: 518
mission: 4
dive: 23
start: 3 25 110 16 1 4
data:
$ID,518
$MISSION,4
$DIVE,23
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$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,83
$T_MISSION,100
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0223
$MASS,51484
$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,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,425
$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,-2152.8425
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,156
$PITCH_MAX,3930
$C_PITCH,2713
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,191
$ROLL_MAX,3829
$ROLL_DEG,40
$C_ROLL_DIVE,2570
$C_ROLL_CLIMB,2570
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,490
$VBD_MAX,3961
$C_VBD,3264
$VBD_DBAND,2
$VBD_CNV,-0.245296
$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,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-78.120049
$PRESSURE_SLOPE,0.00011608547
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,83
$DEVICE3,101
$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,0.0043315957
$SEABIRD_T_H,0.00062693458
$SEABIRD_T_I,2.3960321e-05
$SEABIRD_T_J,2.6058406e-06
$SEABIRD_C_G,-10.015712
$SEABIRD_C_H,1.1551708
$SEABIRD_C_I,-0.0019853432
$SEABIRD_C_J,0.00024211408
$GPS1,155505,4806.942,-12222.836,34,0.9,34,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-68.3
$GPS2,160025,4806.991,-12222.858,14,0.9,14,18.3
$SPEED_LIMITS,0.104,0.182
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.104,0.150
$KALMAN_X,-790.8,-128.2,-12.2,1083.5,48.9
$KALMAN_Y,-1510.9,132.3,92.1,716.0,-108.4
$MHEAD_RNG_PITCHd_Wd,307.0,2342,-13.2,-6.024
$D_GRID,105
$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,-0.56,-97.8,0.0,0.0,0,117,0.00,0.00,-103.88,0.000,2,0.000,0.000,148,2566,3548
$GC,119,-0.56,-97.8,3.3,-3.3,16,138,10.07,2.22,-3.22,0.000,4,0.254,0.061,2527,1175,3667
$GC,377,-0.56,-97.8,29.3,-8.9,64,385,0.00,2.30,0.00,0.000,6,0.000,0.058,2517,2589,3668
$GC,512,-0.56,-97.8,41.3,-9.1,89,519,0.00,2.22,0.00,0.000,4,0.000,0.048,2518,1186,3667
$GC,672,-0.56,-97.8,56.0,-9.1,119,679,0.00,2.25,0.00,0.000,6,0.000,0.056,2508,2578,3668
$GC,805,-0.56,-97.8,67.9,-8.9,144,813,0.00,2.05,0.00,0.000,4,0.000,0.067,2499,3827,3668
$GC,876,-0.56,-97.8,75.0,-10.2,157,883,0.08,1.95,0.00,0.000,6,0.156,0.044,2524,2570,3667
$GC,1009,-0.56,-97.8,86.3,-8.1,182,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2569,3668
$GC,1137,-0.56,-97.8,96.8,-8.0,206,1144,0.00,2.08,0.00,0.000,4,0.000,0.067,2515,3828,3667
$GC,1185,-0.56,-97.8,100.8,-8.7,215,1192,0.00,1.98,0.00,0.000,6,0.000,0.045,2516,2565,3667
$STATE,1243,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1243,begin apogee
$GC,1246,-0.23,0.0,105.4,7.8,226,1326,0.38,0.00,76.60,0.786,6,0.140,0.000,2632,2565,3263
$STATE,1327,end apogee,CONTROL_FINISHED_OK
$STATE,1327,begin climb
$GC,1328,0.56,97.8,107.8,0.0,240,1414,0.77,2.35,77.53,0.756,4,0.104,0.052,2891,1175,2864
$GC,1418,0.56,97.8,102.4,7.3,256,1424,0.00,2.38,0.00,0.000,6,0.000,0.058,2891,2569,2863
$GC,1550,0.56,97.8,89.8,9.3,281,1557,0.00,2.15,0.00,0.000,4,0.000,0.070,2891,3832,2861
$GC,1598,0.56,97.8,84.6,11.1,290,1605,0.00,2.03,0.00,0.000,6,0.000,0.043,2899,2572,2861
$GC,1731,0.56,97.8,71.4,9.9,315,1740,0.00,2.25,0.00,0.000,4,0.000,0.051,2899,1171,2860
$GC,1755,0.56,97.8,69.3,9.7,319,1761,0.00,2.28,0.00,0.000,6,0.000,0.057,2899,2567,2860
$GC,1887,0.56,97.8,56.5,9.6,344,1894,0.00,2.08,0.00,0.000,4,0.000,0.069,2900,3822,2860
$GC,1918,0.56,97.8,53.0,10.7,350,1926,0.00,2.00,0.00,0.000,6,0.000,0.044,2900,2562,2860
$GC,2053,0.56,97.8,40.3,9.2,375,2058,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2562,2860
$GC,2184,0.56,97.8,28.3,9.0,400,2185,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2562,2860
$GC,2314,0.56,97.8,17.2,8.7,424,2321,0.00,2.20,0.00,0.000,4,0.000,0.051,2899,1171,2860
$GC,2331,0.56,97.8,15.8,8.4,427,2338,0.00,2.25,0.00,0.000,6,0.000,0.056,2899,2572,2860
$GC,2401,0.56,97.8,10.5,7.6,440,2402,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2572,2860
$GC,2465,0.56,97.8,6.1,6.6,452,2471,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2572,2859
$STATE,2517,end climb,SURFACE_DEPTH_REACHED
$STATE,2517,begin surface coast
$FINISH,2.2,1.020774
$STATE,2576,end surface coast,CONTROL_FINISHED_OK
$STATE,2576,begin surface
$SM_CCo,2588,253.57,0.700,1,0,1530,425.10
$SM_GC,1.11,0.00,0.00,253.57,0.000,0.000,0.700,150,2572,1530,-8.01,0.06,425.10
$IRIDIUM_FIX,4748.51,-12256.70,190699,151505
$TT8_MAMPS,0.051389
$HUMID,1108
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.2,31.1
$24V_AH,24.3,6.537
$10V_AH,10.6,2.634
$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,18.975,39.000,154.125,253.575,0.000,31.079,31.553,195.029,1.250,0.000,0.000,15.507,0.000,1199.003,539.534,1114.165,312.526,33.295,957.630,0.000,945.706,0.000,11.827,0.000
$DEVICE_MAMPS,253.877,69.797,786.175,699.504,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,nil,nil,nil,nil,nil
$SENSOR_SECS,320.120,551.673,568.588,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31711,473
$CAP_FILE_SIZE,51619,0
$CFSIZE,260165632,258543616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,1,1
$GPS,250310,164923,4807.204,-12223.155,34,1.5,34,18.3