version: 66.02
glider: 140
mission: 2
dive: 10
start: 12 11 107 5 30 24
data:
$ID,140
$MISSION,2
$DIVE,10
$D_SURF,4
$D_FLARE,4
$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,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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51445
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$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,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,630
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2117.7166
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,592
$PITCH_MAX,3894
$C_PITCH,2990
$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,170
$ROLL_MAX,3940
$C_ROLL_DIVE,2390
$C_ROLL_CLIMB,2370
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,9
$R_STBD_OVSHOOT,12
$ROLL_AD_RATE,380
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,520
$VBD_MAX,3978
$C_VBD,3457
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$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,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-1.7017781
$PRESSURE_SLOPE,9.0994887e-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,10
$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
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$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,0.0043383949
$SEABIRD_T_H,0.00063259009
$SEABIRD_T_I,2.4332165e-05
$SEABIRD_T_J,2.5442112e-06
$SEABIRD_C_G,-9.8722277
$SEABIRD_C_H,1.1011369
$SEABIRD_C_I,-0.00070075336
$SEABIRD_C_J,0.00014688425
$GPS1,051917,4806.862,-12222.605,11,4.0,30,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-71.0
$GPS2,052959,4806.892,-12222.517,16,4.4,35,18.3
$SPEED_LIMITS,0.100,0.295
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$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,140.6,1771,-14.9,-10.000
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.23,-195.5,0.0,0.0,0,104,0.00,0.00,-85.60,0.000,2,0.000,0.000,593,2390,3134
$GC,106,-1.23,-195.5,4.6,-9.5,12,151,12.32,2.90,-25.00,0.000,4,0.174,0.122,2716,3800,3978
$GC,338,-1.23,-195.5,18.2,-7.6,54,346,0.00,2.92,0.00,0.000,6,0.000,0.107,2716,2388,3978
$GC,410,-1.23,-195.5,22.7,-6.1,67,417,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2389,3979
$GC,483,-1.23,-195.5,27.9,-7.9,80,491,0.00,3.00,0.00,0.000,4,0.000,0.133,2717,981,3979
$GC,524,-1.23,-195.5,31.6,-8.7,87,530,0.00,2.78,0.00,0.000,6,0.000,0.097,2716,2392,3979
$GC,661,-1.23,-195.5,42.6,-7.5,112,668,0.00,2.97,0.00,0.000,4,0.000,0.129,2716,974,3979
$GC,695,-1.23,-195.5,45.5,-8.4,118,703,0.00,2.80,0.00,0.000,6,0.000,0.098,2716,2391,3979
$GC,834,-1.23,-195.5,56.1,-7.4,143,840,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2391,3979
$GC,968,-1.23,-195.5,66.2,-7.3,168,976,0.00,2.95,0.00,0.000,4,0.000,0.125,2717,981,3979
$GC,1011,-1.23,-195.5,69.5,-8.1,175,1017,0.00,2.75,0.00,0.000,6,0.000,0.100,2716,2394,3979
$GC,1152,-1.23,-195.5,80.3,-7.9,200,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2394,3979
$GC,1290,-1.23,-195.5,91.1,-7.8,225,1296,0.00,2.92,0.00,0.000,4,0.000,0.125,2716,980,3979
$GC,1347,-1.23,-195.5,95.6,-7.9,235,1353,0.00,2.75,0.00,0.000,6,0.000,0.095,2716,2392,3979
$GC,1481,-1.23,-195.5,106.2,-7.4,260,1489,0.00,2.95,0.00,0.000,4,0.000,0.126,2716,985,3979
$STATE,1504,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1504,begin apogee
$GC,1510,-0.33,0.0,108.2,8.2,264,1616,0.95,0.00,101.70,0.917,6,0.095,0.000,2912,2370,3457
$STATE,1617,end apogee,CONTROL_FINISHED_OK
$STATE,1617,begin climb
$GC,1618,1.23,195.5,110.6,0.0,281,1777,1.58,0.00,152.02,0.858,6,0.064,0.000,3256,2370,2660
$GC,1910,1.23,195.5,81.8,12.6,331,1915,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,2370,2660
$GC,2043,1.23,195.5,64.2,13.1,356,2052,0.00,2.92,0.00,0.000,4,0.000,0.111,3256,3782,2660
$GC,2076,1.23,195.5,60.3,13.2,361,2082,0.00,2.85,0.00,0.000,6,0.000,0.101,3256,2368,2660
$GC,2211,1.23,195.5,42.9,12.9,386,2219,0.00,2.95,0.00,0.000,4,0.000,0.130,3256,959,2660
$GC,2233,1.23,195.5,40.4,12.9,389,2239,0.00,2.75,0.00,0.000,6,0.000,0.095,3256,2374,2660
$GC,2368,1.23,195.5,23.4,12.7,414,2375,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,2375,2660
$GC,2439,1.23,195.5,14.8,12.6,427,2447,0.00,2.88,0.00,0.000,4,0.000,0.107,3256,3786,2660
$GC,2459,1.23,195.5,12.2,12.7,430,2467,0.00,2.85,0.00,0.000,6,0.000,0.094,3257,2378,2660
$GC,2531,1.39,324.2,4.9,5.6,443,2639,0.15,2.90,101.03,0.819,4,0.058,0.102,3302,3785,2134
$STATE,2789,end climb,NO_VERTICAL_VELOCITY
$STATE,2789,begin surface
$SM_CCo,2791,344.60,0.739,21,0,520,720.45
$SM_GC,0.94,12.05,0.00,0.00,0.044,0.000,0.000,591,2387,514,-10.98,-0.08,721.92
$IRIDIUM_FIX,4748.51,-12217.40,111207,090948
$TT8_MAMPS,0.023777
$HUMID,1512
$INTERNAL_PRESSURE,8.29133
$TCM_TEMP,18.60
$XPDR_PINGS,105
$ALTIM_BOTTOM_PING,80.3,43.5
$24V_AH,23.6,2.592
$10V_AH,10.1,0.987
$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,27.050,57.425,354.750,344.600,0.000,78.872,175.119,227.564,26.750,0.000,0.000,37.037,717.526,489.887,798.893,1457.720,552.432,0.000,1382.414,0.000,878.343,0.000,5.470
$DEVICE_MAMPS,174.109,132.691,917.332,739.388,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,326.381,1178.718,0.000,564.928,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25379,487
$CFSIZE,260165632,258670592
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,7,21,0
$GPS,111207,062720,4806.506,-12222.154,14,1.9,32,18.3