version: 66.02
glider: 14
mission: 2
dive: 17
start: 12 12 107 11 29 43
data:
$ID,14
$MISSION,2
$DIVE,17
$D_SURF,4
$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,62.5
$T_MISSION,75
$T_ABORT,1440
$T_TURN,240
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$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,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,22
$KALMAN_USE,1
$HD_A,0.00312
$HD_B,0.0099099996
$HD_C,2.4896e-05
$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,600
$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,-130751.09
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,42
$PITCH_MAX,3363
$C_PITCH,2378
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15.5
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,202
$ROLL_MAX,3893
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,187
$VBD_MAX,3559
$C_VBD,2948
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00159
$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,2
$AH0_24V,95.400002
$AH0_10V,61.200001
$PRESSURE_YINT,-15.060091
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,-0.69999999
$TCM_ROLL_OFFSET,0.5
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,60
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,17
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042855334
$SEABIRD_T_H,0.00062604493
$SEABIRD_T_I,2.1829796e-05
$SEABIRD_T_J,2.0724553e-06
$SEABIRD_C_G,-9.9956274
$SEABIRD_C_H,1.1210338
$SEABIRD_C_I,-0.0011134691
$SEABIRD_C_J,0.00016706332
$GPS1,112345,4806.105,-12222.058,11,1.9,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-69.8
$GPS2,112847,4806.164,-12222.136,10,9.2,29,18.3
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.099,-0.213
$KALMAN_X,-2252.7,-50.4,110.5,3702.2,-351.4
$KALMAN_Y,5929.1,32.7,-274.0,-8720.1,764.5
$MHEAD_RNG_PITCHd_Wd,136.8,347,-14.4,-8.000
$D_GRID,150
$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,42,end surface,CONTROL_FINISHED_OK
$STATE,42,begin dive
$GC,46,-1.16,-146.6,0.0,0.0,0,111,0.00,0.00,-62.47,0.000,2,0.000,0.000,39,2185,1917
$GC,115,-1.16,-146.6,3.4,-3.0,12,193,11.98,2.70,-58.85,0.000,4,0.188,0.106,2116,3602,3547
$GC,206,-1.16,-146.6,8.1,-9.8,28,213,0.00,2.45,0.00,0.000,6,0.000,0.066,2116,2201,3547
$GC,283,-1.16,-146.6,13.6,-6.5,41,288,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2201,3547
$GC,358,-1.16,-146.6,18.0,-6.1,54,363,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2201,3547
$GC,436,-1.16,-146.6,22.7,-6.1,64,441,0.00,2.65,0.00,0.000,4,0.000,0.097,2116,3601,3547
$GC,489,-1.16,-146.6,26.4,-7.0,68,493,0.00,2.45,0.00,0.000,6,0.000,0.066,2116,2200,3547
$GC,688,-1.16,-146.6,40.1,-7.0,86,689,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2200,3547
$GC,888,-1.16,-146.6,52.5,-5.8,103,890,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2200,3547
$GC,1198,-1.16,-146.6,69.9,-5.5,118,1204,0.00,2.60,0.00,0.000,4,0.000,0.100,2116,3603,3547
$GC,1255,-1.16,-146.6,73.8,-7.4,120,1260,0.00,2.45,0.00,0.000,6,0.000,0.065,2116,2197,3546
$GC,1572,-1.16,-146.6,92.6,-5.9,135,1573,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2197,3547
$GC,1887,-1.16,-146.6,111.6,-5.9,159,1888,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2197,3546
$STATE,1926,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1926,begin apogee
$GC,1935,-0.32,0.0,114.0,5.9,163,2052,0.90,0.00,112.05,0.789,6,0.105,0.000,2304,2301,2948
$STATE,2052,end apogee,CONTROL_FINISHED_OK
$STATE,2052,begin climb
$GC,2056,1.16,146.6,115.1,0.0,175,2173,1.48,0.00,112.10,0.758,6,0.071,0.000,2632,2301,2350
$GC,2486,1.16,146.6,49.9,17.0,203,2492,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2301,2350
$GC,2686,1.16,146.6,17.7,15.4,223,2691,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2301,2350
$GC,2760,1.16,146.6,7.6,13.0,236,2766,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2301,2349
$STATE,2809,end climb,SURFACE_DEPTH_REACHED
$STATE,2809,begin surface coast
$FINISH,5.7,1.019691
$STATE,2895,end surface coast,CONTROL_FINISHED_OK
$STATE,2895,begin surface
$SM_CCo,2899,320.55,0.666,0,0,186,677.27
$SM_GC,1.45,11.48,0.00,0.00,0.058,0.000,0.000,37,2186,187,-10.71,-0.40,677.27
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1593
$TCM_TEMP,4.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,18.7
$ALTIM_BOTTOM_PING,90.2,33.5
$24V_AH,23.8,2.425
$10V_AH,10.1,0.919
$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,25.825,15.650,224.150,320.550,0.000,32.537,36.782,106.046,1.500,0.000,0.000,31.915,449.433,1735.595,642.512,509.903,314.575,33.324,932.404,0.000,255.208,0.000,11.675
$DEVICE_MAMPS,187.915,105.846,789.243,665.756,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,233.951,242.038,448.258,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12780,260
$CFSIZE,254472192,252600320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,121207,122632,4806.065,-12222.113,37,1.4,38,18.3