version: 66.04
glider: 104
mission: 6
dive: 15
start: 7 31 108 8 15 51
data:
$ID,104
$MISSION,6
$DIVE,15
$D_SURF,3
$D_FLARE,4
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,100
$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,62.5
$T_MISSION,70
$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,-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,2.5700001e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,48.130001
$TGT_DEFAULT_LON,-122.366
$TGT_AUTO_DEFAULT,0
$SM_CC,657
$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,-210465.78
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,45
$PITCH_MAX,3331
$C_PITCH,2420
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,176
$ROLL_MAX,3929
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,1840
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,12
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,574
$VBD_MAX,3908
$C_VBD,3296
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$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,-18.697796
$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,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,50
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.784981
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$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,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043491693
$SEABIRD_T_H,0.00063843821
$SEABIRD_T_I,2.3643479e-05
$SEABIRD_T_J,2.3372697e-06
$SEABIRD_C_G,-9.7263737
$SEABIRD_C_H,1.1821688
$SEABIRD_C_I,-0.00092709012
$SEABIRD_C_J,0.00016946776
$GPS1,080939,4806.211,-12222.041,8,2.0,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.22
$_SM_ANGLEo,-60.7
$GPS2,081437,4806.133,-12221.995,13,1.2,29,18.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.152,0.192
$KALMAN_X,-1092.4,-168.5,34.1,2911.4,111.4
$KALMAN_Y,2131.5,324.1,-9.4,-4856.4,-100.0
$MHEAD_RNG_PITCHd_Wd,303.3,4254,-14.8,-8.000
$D_GRID,108
$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,13,-1.17,-146.6,0.0,0.0,0,125,0.00,0.00,-109.15,0.000,2,0.000,0.000,41,2016,3697
$GC,127,-1.17,-146.6,4.5,-8.5,18,147,12.00,0.00,-4.05,0.000,6,0.154,0.000,2160,2015,3896
$GC,216,-1.17,-146.6,12.8,-5.1,33,222,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2015,3896
$GC,290,-1.17,-146.6,17.1,-6.1,46,295,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2015,3896
$GC,362,-1.17,-146.6,21.6,-6.5,57,366,0.00,2.47,0.00,0.000,4,0.000,0.052,2159,3399,3896
$GC,393,-1.17,-146.6,23.9,-7.2,59,401,0.00,2.47,0.00,0.000,6,0.000,0.036,2159,1997,3896
$GC,593,-1.17,-146.6,37.6,-6.7,78,594,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,1997,3897
$GC,783,-1.17,-146.6,50.5,-6.8,96,788,0.00,2.55,0.00,0.000,4,0.000,0.063,2160,594,3897
$GC,823,-1.17,-146.6,53.2,-7.1,98,827,0.00,2.40,0.00,0.000,6,0.000,0.037,2159,1986,3897
$GC,1150,-1.17,-146.6,73.2,-5.8,114,1151,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,1987,3897
$GC,1460,-1.17,-146.6,91.1,-5.9,129,1464,0.00,2.55,0.00,0.000,4,0.000,0.063,2160,594,3897
$GC,1498,-1.17,-146.6,93.6,-6.0,131,1503,0.00,2.45,0.00,0.000,6,0.000,0.039,2160,2009,3897
$STATE,1755,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1755,begin apogee
$GC,1759,-0.33,0.0,108.2,5.6,150,1879,0.90,0.00,116.60,0.683,6,0.076,0.000,2346,1836,3296
$STATE,1879,end apogee,CONTROL_FINISHED_OK
$STATE,1880,begin climb
$GC,1881,1.17,146.6,109.3,0.0,162,2005,1.48,2.70,114.93,0.655,4,0.042,0.067,2679,434,2697
$GC,2066,1.17,146.6,88.3,14.8,175,2071,0.00,2.47,0.00,0.000,6,0.000,0.037,2679,1837,2697
$GC,2388,1.17,146.6,45.4,13.0,192,2392,0.00,2.60,0.00,0.000,4,0.000,0.067,2679,435,2697
$GC,2460,1.17,146.6,35.9,13.0,198,2464,0.00,2.45,0.00,0.000,6,0.000,0.038,2679,1848,2696
$GC,2660,1.17,146.6,12.1,11.5,222,2666,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1848,2696
$GC,2734,1.17,146.6,3.4,10.4,235,2740,0.00,2.62,0.00,0.000,4,0.000,0.066,2679,430,2696
$STATE,2745,end climb,SURFACE_DEPTH_REACHED
$STATE,2745,begin surface coast
$FINISH,1.8,1.020779
$STATE,2785,end surface coast,CONTROL_FINISHED_OK
$STATE,2785,begin surface
$SM_CCo,2806,300.30,0.586,6,0,617,657.16
$SM_GC,0.22,0.00,0.00,300.30,0.000,0.000,0.586,41,2006,617,-10.94,0.14,657.16
$IRIDIUM_FIX,4748.51,-12221.84,251097,070746
$TT8_MAMPS,0.025311
$HUMID,1994
$INTERNAL_PRESSURE,8.05915
$TCM_TEMP,17.70
$XPDR_PINGS,174
$24V_AH,23.5,1.781
$10V_AH,10.1,0.607
$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,26.550,30.825,231.525,300.300,0.000,31.308,35.941,145.184,45.000,0.000,0.000,31.162,432.848,1509.720,630.856,630.768,271.103,33.338,953.491,0.000,610.402,0.000,10.103,0.000
$DEVICE_MAMPS,154.167,67.496,682.630,585.988,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,163.944,176.823,473.584,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12852,244
$CAP_FILE_SIZE,39429,0
$CFSIZE,260165632,258019328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,6,0
$GPS,310708,090851,4806.369,-12222.205,10,1.5,10,18.3