version: 66.01
glider: 108
mission: 4
dive: 13
start: 8 19 107 1 41 21
data:
$ID,108
$MISSION,4
$DIVE,13
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$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,50
$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,135
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51322
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.015
$HD_C,5.5e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,480
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-102021.07
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,775
$PITCH_MAX,3245
$C_PITCH,2180
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15.3
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,100
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,154
$ROLL_MAX,3928
$C_ROLL_DIVE,2210
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,3
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,568
$VBD_MAX,3955
$C_VBD,3006
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$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
$PRESSURE_YINT,-10.045347
$PRESSURE_SLOPE,9.1530041e-05
$AD7714Ch0Gain,64
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,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,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043498399
$SEABIRD_T_H,0.0006493734
$SEABIRD_T_I,2.8112627e-05
$SEABIRD_T_J,3.1957888e-06
$SEABIRD_C_G,-10.106751
$SEABIRD_C_H,1.1366181
$SEABIRD_C_I,0.00038917549
$SEABIRD_C_J,7.9540005e-05
$GPS1,013709,4806.765,-12222.811,10,2.0,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-57.4
$GPS2,014057,4806.750,-12222.797,15,1.9,15,18.3
$SPEED_LIMITS,0.173,0.206
$TGT_NAME,SIX_sb
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,50.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,120.2,1703,-23.1,-10.000
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-1.67,-132.0,0.0,0.0,0,54,0.00,0.00,-34.50,0.000,2,0.000,0.000,780,2203,2086
$GC,56,-1.67,-132.0,3.3,-4.0,5,106,6.65,2.55,-35.88,0.000,4,0.218,0.077,1811,813,3546
$GC,359,-1.60,-132.0,67.5,-22.3,39,363,0.00,2.42,0.00,0.000,6,0.000,0.045,1812,2210,3547
$STATE,534,end dive,TARGET_DEPTH_EXCEEDED
$STATE,534,begin apogee
$GC,538,-0.33,0.0,106.1,21.7,55,647,1.52,0.00,101.68,0.722,6,0.130,0.000,2103,2401,3006
$STATE,648,end apogee,CONTROL_FINISHED_OK
$STATE,648,begin climb
$GC,649,1.67,132.0,112.0,0.0,66,760,2.00,2.60,100.90,0.703,4,0.064,0.061,2550,999,2468
$GC,1011,1.57,194.4,101.9,6.8,96,1066,0.17,2.45,47.33,0.716,6,0.163,0.048,2523,2403,2213
$GC,1382,1.47,194.4,59.6,11.7,131,1387,0.12,2.55,0.00,0.000,4,0.163,0.064,2504,999,2213
$GC,1534,1.37,194.4,42.4,10.9,144,1539,0.15,2.42,0.00,0.000,6,0.161,0.050,2481,2384,2212
$GC,1731,1.34,194.4,22.6,10.1,162,1732,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2384,2212
$GC,1931,1.55,364.3,8.8,1.4,195,2067,0.15,2.75,128.32,0.675,4,0.077,0.077,2517,3801,1519
$GC,2073,1.66,436.2,3.9,6.4,215,2108,0.12,2.53,28.55,0.658,2,0.075,0.045,2544,2371,1366
$STATE,2109,end climb,SURFACE_DEPTH_REACHED
$STATE,2109,begin surface coast
$FINISH,1.5,1.009699
$STATE,2136,end surface coast,CONTROL_FINISHED_OK
$STATE,2136,begin surface
$SM_CCo,2151,59.15,0.653,0,0,1048,480.05
$SM_GC,2.94,0.00,0.00,59.15,0.000,0.000,0.653,779,2199,1048,-6.45,-0.31,480.05
$RAFOS_CLK,45
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4751.72,-12226.29,190807,050559
$TT8_MAMPS,0.02301
$HUMID,1973
$INTERNAL_PRESSURE,11.1918
$TCM_TEMP,19.70
$XPDR_PINGS,0
$24V_AH,0.1,3.972
$10V_AH,10.1,1.744
$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,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,18.925,20.875,406.775,59.150,0.000,35.160,52.080,69.979,0.000,16.624,467.511,870.223,481.599,448.533,195.361,0.000,764.857,0.000,441.108,0.000,0.465
$DEVICE_MAMPS,217.828,77.467,721.747,652.717,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,158.062,146.055,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6449,225
$CFSIZE,256090112,252801024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$SOUNDSPEED,1488.0
$CURRENT,0.017,199.0,1
$GPS,190807,021922,4806.744,-12222.714,14,2.0,33,18.3