version: 66.03
glider: 141
mission: 6
dive: 4
start: 3 12 108 19 57 20
data:
$ID,141
$MISSION,6
$DIVE,4
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$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,50
$T_MISSION,70
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-6
$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,51974
$NAV_MODE,1
$FERRY_MAX,0
$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,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,578.71997
$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,-5609.584
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,581
$PITCH_MAX,3865
$C_PITCH,2830
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.059999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,157
$ROLL_MAX,3732
$ROLL_DEG,40
$C_ROLL_DIVE,1970
$C_ROLL_CLIMB,2070
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3955
$C_VBD,2900
$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,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$PRESSURE_YINT,-3.0221882
$PRESSURE_SLOPE,9.1207337e-05
$AD7714Ch0Gain,64
$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,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,14
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,1
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$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,0.0043133562
$SEABIRD_T_H,0.00062858552
$SEABIRD_T_I,2.3249919e-05
$SEABIRD_T_J,2.3890996e-06
$SEABIRD_C_G,-10.024263
$SEABIRD_C_H,1.1472844
$SEABIRD_C_I,-0.00073099177
$SEABIRD_C_J,0.00011512569
$GPS1,195039,4743.906,-12224.234,12,1.3,12,18.2
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-53.1
$GPS2,195623,4743.949,-12224.216,8,2.2,27,18.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SE
$TGT_LATLONG,4743.000,-12224.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.009,-0.260
$KALMAN_X,56.7,65.0,56.5,-421.3,26.3
$KALMAN_Y,842.5,520.6,428.8,-912.1,428.1
$MHEAD_RNG_PITCHd_Wd,159.8,1777,-17.5,-10.000
$D_GRID,173
$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,19,-1.27,-146.6,0.0,0.0,0,151,0.00,0.00,-129.62,0.000,2,0.000,0.000,571,1961,3251
$GC,153,-1.27,-146.6,3.4,-6.2,18,177,11.20,2.58,-5.43,0.000,4,0.185,0.072,2542,568,3500
$GC,410,-1.46,-146.6,52.8,-15.7,66,418,0.10,2.53,0.00,0.000,6,0.047,0.043,2505,1973,3501
$GC,549,-1.46,-146.6,74.2,-15.2,91,555,0.00,2.58,0.00,0.000,4,0.000,0.058,2505,564,3501
$GC,640,-1.46,-146.6,87.1,-13.4,108,648,0.00,2.50,0.00,0.000,6,0.000,0.048,2505,1962,3500
$GC,780,-1.46,-146.6,106.2,-15.2,133,786,0.00,2.55,0.00,0.000,4,0.000,0.058,2505,564,3501
$GC,817,-1.46,-146.6,112.3,-15.0,140,826,0.00,2.53,0.00,0.000,6,0.000,0.044,2505,1974,3501
$GC,956,-1.46,-146.6,132.9,-14.9,165,962,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1975,3501
$STATE,1075,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1075,begin apogee
$GC,1079,-0.31,0.0,150.0,14.1,187,1203,1.17,0.00,118.35,0.741,6,0.103,0.000,2754,2082,2900
$STATE,1204,end apogee,CONTROL_FINISHED_OK
$STATE,1204,begin climb
$GC,1205,1.27,146.6,155.5,0.0,207,1334,1.58,2.58,119.53,0.717,4,0.074,0.061,3104,3466,2299
$GC,1396,1.28,215.7,150.9,6.8,239,1459,0.00,2.47,57.35,0.703,6,0.000,0.041,3104,2072,2020
$GC,1590,1.34,262.8,135.9,7.8,273,1641,0.00,2.65,39.75,0.694,4,0.000,0.060,3104,668,1827
$GC,1697,1.35,271.8,126.4,9.6,291,1711,0.00,2.50,8.38,0.611,6,0.000,0.042,3104,2072,1792
$GC,1843,1.47,282.6,113.0,9.5,317,1862,0.17,2.62,10.20,0.635,4,0.054,0.061,3159,3468,1746
$GC,1913,1.37,282.6,104.6,12.7,329,1919,0.15,2.45,0.00,0.000,6,0.111,0.041,3130,2071,1742
$GC,2050,1.37,282.6,89.1,10.7,354,2057,0.00,2.60,0.00,0.000,4,0.000,0.066,3130,666,1743
$GC,2095,1.37,282.6,83.3,12.3,362,2103,0.00,2.53,0.00,0.000,6,0.000,0.042,3130,2069,1742
$GC,2234,1.37,282.6,66.2,12.8,387,2239,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2070,1742
$GC,2370,1.37,282.6,48.6,13.9,412,2378,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2071,1742
$GC,2441,1.37,282.6,39.7,11.7,425,2449,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2071,1742
$GC,2513,1.37,282.6,31.4,11.3,438,2521,0.00,2.60,0.00,0.000,4,0.000,0.061,3130,3473,1741
$GC,2548,1.37,282.6,27.7,10.1,444,2555,0.00,2.50,0.00,0.000,6,0.000,0.040,3130,2075,1741
$GC,2619,1.37,282.6,20.5,10.5,457,2628,0.00,2.60,0.00,0.000,4,0.000,0.064,3130,665,1740
$GC,2712,1.38,288.8,11.4,9.7,474,2728,0.00,2.53,6.07,0.561,6,0.000,0.044,3130,2071,1722
$GC,2792,1.44,337.9,3.4,7.7,488,2801,0.00,0.00,7.00,0.574,2,0.000,0.000,3130,2071,1693
$STATE,2801,end climb,SURFACE_DEPTH_REACHED
$STATE,2801,begin surface coast
$FINISH,0.1,1.010181
$STATE,2839,end surface coast,CONTROL_FINISHED_OK
$STATE,2839,begin surface
$SM_CCo,2856,233.07,0.636,0,0,540,578.91
$SM_GC,0.80,0.00,0.00,233.07,0.000,0.000,0.636,570,1962,540,-10.40,-0.23,578.91
$IRIDIUM_FIX,4726.11,-12220.67,060697,191905
$TT8_MAMPS,0.042185
$HUMID,1636
$INTERNAL_PRESSURE,9.91249
$TCM_TEMP,11.90
$XPDR_PINGS,180
$24V_AH,23.8,0.988
$10V_AH,10.6,0.485
$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,25.225,46.225,366.625,233.075,0.000,28.431,29.994,191.519,45.000,0.000,0.000,30.343,733.001,357.629,603.408,1424.810,332.986,32.327,1192.779,0.000,1425.275,0.000,0.465
$DEVICE_MAMPS,184.847,72.098,740.922,635.843,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,334.465,368.618,329.894,556.112,1085.775,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38246,496
$CAP_FILE_SIZE,52888,0
$CFSIZE,260165632,257482752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120308,205002,4743.899,-12223.985,38,1.0,38,18.2