version: 66.02
glider: 144
mission: 2
dive: 4
start: 12 11 107 23 55 58
data:
$ID,144
$MISSION,2
$DIVE,4
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,500
$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,0
$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,51458
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-611.86438
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,500
$PITCH_MAX,3812
$C_PITCH,2770
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3940
$C_ROLL_DIVE,2170
$C_ROLL_CLIMB,2190
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3950
$C_VBD,3503
$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,-2.6104116
$PRESSURE_SLOPE,0.00011159377
$AD7714Ch0Gain,128
$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,90
$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,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,54
$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,0.0043142079
$SEABIRD_T_H,0.00062953553
$SEABIRD_T_I,2.3274781e-05
$SEABIRD_T_J,2.4096155e-06
$SEABIRD_C_G,-10.012566
$SEABIRD_C_H,1.1222577
$SEABIRD_C_I,-0.0011971687
$SEABIRD_C_J,0.000188736
$GPS1,234759,4807.201,-12222.862,7,6.7,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-64.5
$GPS2,235537,4807.285,-12222.924,15,1.2,31,18.3
$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,136.0,2639,-14.9,-10.000
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.17,-195.5,0.0,0.0,0,124,0.00,0.00,-104.07,0.000,2,0.000,0.000,497,2157,3104
$GC,126,-1.17,-195.5,3.0,-3.3,19,172,10.75,2.45,-28.73,0.000,4,0.163,0.075,2508,766,3952
$GC,313,-1.17,-195.5,13.1,-5.7,52,319,0.00,2.42,0.00,0.000,6,0.000,0.048,2508,2181,3953
$GC,387,-1.17,-195.5,17.4,-6.1,65,393,0.00,2.50,0.00,0.000,4,0.000,0.062,2508,765,3953
$GC,439,-1.17,-195.5,21.2,-7.6,74,445,0.00,2.40,0.00,0.000,6,0.000,0.047,2508,2174,3952
$GC,513,-1.17,-195.5,26.5,-7.5,87,518,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2174,3953
$GC,586,-1.17,-195.5,32.2,-7.9,100,591,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2174,3953
$GC,727,-1.17,-195.5,43.4,-8.0,125,733,0.00,2.47,0.00,0.000,4,0.000,0.061,2508,769,3953
$GC,879,-1.17,-195.5,56.2,-8.3,152,885,0.00,2.40,0.00,0.000,6,0.000,0.054,2508,2174,3952
$GC,1020,-1.17,-195.5,67.0,-6.6,177,1026,0.00,2.47,0.00,0.000,4,0.000,0.061,2508,766,3952
$GC,1105,-1.17,-195.5,73.9,-7.8,192,1111,0.00,2.40,0.00,0.000,6,0.000,0.047,2508,2176,3952
$GC,1246,-1.17,-195.5,84.5,-6.8,217,1252,0.00,2.47,0.00,0.000,4,0.000,0.061,2508,764,3952
$GC,1338,-1.17,-195.5,91.7,-7.8,233,1344,0.00,2.40,0.00,0.000,6,0.000,0.045,2508,2174,3952
$STATE,1467,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1467,begin apogee
$GC,1471,-0.31,0.0,101.6,7.5,256,1562,0.88,0.00,86.38,0.686,6,0.097,0.000,2697,2174,3503
$STATE,1563,end apogee,CONTROL_FINISHED_OK
$STATE,1563,begin climb
$GC,1565,1.17,195.5,103.8,0.0,273,1725,1.42,2.53,150.62,0.663,4,0.070,0.058,3020,3601,2705
$GC,1748,1.17,195.5,91.9,10.7,307,1754,0.00,2.40,0.00,0.000,6,0.000,0.042,3020,2190,2704
$GC,1888,1.17,195.5,77.1,10.9,332,1894,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2191,2705
$GC,2028,1.17,195.5,62.4,10.6,357,2034,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2190,2705
$GC,2168,1.17,199.7,48.0,9.9,382,2180,0.00,2.47,5.15,0.510,4,0.000,0.058,3020,3594,2688
$GC,2197,1.17,199.7,44.9,10.9,387,2203,0.00,2.38,0.00,0.000,6,0.000,0.041,3021,2191,2687
$GC,2337,1.19,210.0,30.3,9.6,412,2349,0.00,0.00,9.43,0.580,6,0.000,0.000,3020,2191,2647
$GC,2417,1.19,210.0,22.2,10.1,426,2422,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2190,2647
$GC,2490,1.20,220.4,14.8,9.6,439,2502,0.00,0.00,9.77,0.574,6,0.000,0.000,3020,2190,2604
$GC,2570,1.22,237.7,6.5,9.4,453,2587,0.00,0.00,14.52,0.586,6,0.000,0.000,3020,2191,2533
$STATE,2603,end climb,SURFACE_DEPTH_REACHED
$STATE,2603,begin surface coast
$FINISH,3.5,1.018261
$STATE,2666,end surface coast,CONTROL_FINISHED_OK
$STATE,2666,begin surface
$SM_CCo,2684,303.20,0.590,0,0,933,630.18
$SM_GC,1.38,0.00,0.00,303.20,0.000,0.000,0.590,499,2190,933,-10.45,0.57,630.18
$IRIDIUM_FIX,6532.72,-8132.19,121207,020244
$TT8_MAMPS,0.026078
$HUMID,1614
$INTERNAL_PRESSURE,8.3011
$TCM_TEMP,17.80
$XPDR_PINGS,163
$ALTIM_BOTTOM_PING,100.3,11.3
$24V_AH,23.7,1.005
$10V_AH,10.1,0.453
$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,24.125,34.175,275.875,303.200,0.000,39.146,33.263,274.252,41.500,0.000,0.000,32.583,679.477,835.837,654.779,862.185,429.899,0.000,1117.860,0.000,839.700,0.000,6.950
$DEVICE_MAMPS,163.371,75.166,686.465,589.823,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,319.995,227.495,0.000,537.611,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25435,470
$CFSIZE,260165632,258822144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,121207,004647,4807.074,-12222.833,7,3.4,26,18.3