version: 66.03
glider: 136
mission: 2
dive: 1
start: 3 31 108 16 56 28
data:
$ID,136
$MISSION,2
$DIVE,1
$D_SURF,3
$D_FLARE,3
$D_TGT,45
$D_ABORT,1090
$D_NO_BLEED,80
$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,15
$T_MISSION,24
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$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,1.0232
$MASS,51077
$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,48.133331
$TGT_DEFAULT_LON,-122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,745
$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,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-52934.809
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,679
$PITCH_MAX,3985
$C_PITCH,3010
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3918
$ROLL_DEG,40
$C_ROLL_DIVE,2077
$C_ROLL_CLIMB,2077
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3900
$C_VBD,3522
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,6
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-2.6718953
$PRESSURE_SLOPE,0.0001163524
$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,80
$ALTIM_PING_DELTA,10
$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
$DEVICE2,35
$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,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043748552
$SEABIRD_T_H,0.00063281442
$SEABIRD_T_I,2.1647942e-05
$SEABIRD_T_J,1.9060326e-06
$SEABIRD_C_G,-9.9140806
$SEABIRD_C_H,1.1150324
$SEABIRD_C_I,-0.00094694644
$SEABIRD_C_J,0.00016052932
$GPS1,165256,4808.200,-12222.787,9,1.8,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-66.2
$GPS2,165539,4808.190,-12222.797,10,1.8,10,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.061,-0.253
$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,148.1,4175,-17.5,-10.000
$D_GRID,96
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.43,-146.6,0.0,0.0,0,94,0.00,0.00,-71.35,0.000,2,0.000,0.000,666,2088,2209
$GC,97,-1.43,-146.6,3.3,-6.7,13,172,11.12,2.47,-56.08,0.000,4,0.141,0.058,2692,3477,3901
$GC,411,-1.43,-146.6,19.9,-7.7,83,417,0.00,2.45,0.00,0.000,6,0.000,0.037,2692,2081,3901
$GC,483,-1.43,-146.6,25.8,-7.9,99,489,0.00,2.50,0.00,0.000,4,0.000,0.048,2692,3482,3900
$GC,674,-1.43,-146.6,44.1,-9.6,144,681,0.00,2.47,0.00,0.000,6,0.000,0.038,2692,2069,3900
$STATE,685,end dive,TARGET_DEPTH_EXCEEDED
$STATE,685,begin apogee
$GC,691,-0.36,0.0,45.3,9.2,146,766,1.12,0.00,70.60,0.823,6,0.086,0.000,2923,2069,3522
$STATE,766,end apogee,CONTROL_FINISHED_OK
$STATE,767,begin climb
$GC,769,1.43,146.6,47.4,0.0,160,888,1.80,2.62,109.75,0.805,4,0.054,0.065,3316,672,2924
$GC,905,1.46,169.4,41.9,8.9,185,929,0.00,2.53,18.92,0.747,6,0.000,0.048,3317,2061,2831
$GC,993,1.46,169.4,31.0,12.7,204,1000,0.00,2.58,0.00,0.000,4,0.000,0.048,3316,3494,2831
$GC,1052,1.46,169.4,23.4,12.9,217,1059,0.00,2.53,0.00,0.000,6,0.000,0.038,3317,2073,2830
$GC,1123,1.46,169.4,14.7,12.1,233,1128,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2073,2831
$GC,1193,1.46,169.4,6.4,11.0,249,1200,0.00,2.55,0.00,0.000,4,0.000,0.047,3316,3491,2830
$GC,1225,1.55,245.3,4.6,6.5,255,1289,0.12,2.50,57.12,0.761,6,0.052,0.036,3352,2070,2521
$GC,1356,1.80,451.6,4.5,0.5,281,1442,0.20,0.00,82.62,0.761,2,0.046,0.000,3406,2070,2079
$STATE,1443,end climb,NO_VERTICAL_VELOCITY
$STATE,1443,begin surface
$SM_CCo,1446,308.38,0.729,4,0,460,751.11
$SM_GC,0.98,12.18,0.00,0.00,0.030,0.000,0.000,665,2070,455,-10.68,-0.20,752.09
$IRIDIUM_FIX,4751.72,-12340.51,250697,161623
$TT8_MAMPS,0.03068
$HUMID,1451
$INTERNAL_PRESSURE,8.50619
$TCM_TEMP,207.40
$XPDR_PINGS,3
$24V_AH,23.5,0.259
$10V_AH,10.1,0.067
$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
$DEVICE_SECS,26.550,25.200,339.025,308.375,0.000,0.000,0.000,0.000,0.750,0.000,0.000,11.636,400.940,206.453,679.359,607.142,58.709,29.237,1041.893,0.000,610.241,0.000,0.932
$DEVICE_MAMPS,141.128,65.195,822.991,729.417,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,192.550,521.667,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12797,296
$CAP_FILE_SIZE,43700,0
$CFSIZE,260165632,258961408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,310308,172839,4808.061,-12222.829,10,2.0,10,18.3