version: 66.03
glider: 146
mission: 1
dive: 17
start: 2 12 108 14 15 35
data:
$ID,146
$MISSION,1
$DIVE,17
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,60
$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,300
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$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,600
$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,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-3579.1016
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,436
$PITCH_MAX,3705
$C_PITCH,3085
$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,193
$ROLL_MAX,3941
$ROLL_DEG,40
$C_ROLL_DIVE,2045
$C_ROLL_CLIMB,2045
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,471
$VBD_MAX,3950
$C_VBD,3393
$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,-28.32539
$PRESSURE_SLOPE,0.000115925
$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
$DEVICE2,20
$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,0.0042943107
$SEABIRD_T_H,0.00062841887
$SEABIRD_T_I,2.3281167e-05
$SEABIRD_T_J,2.4418403e-06
$SEABIRD_C_G,-10.095174
$SEABIRD_C_H,1.1317128
$SEABIRD_C_I,-0.0020966067
$SEABIRD_C_J,0.00024836216
$GPS1,140438,4806.241,-12222.320,42,1.0,42,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-70.4
$GPS2,141509,4806.276,-12222.391,10,1.3,10,18.3
$SPEED_LIMITS,0.173,0.351
$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,118.4,704,-12.8,-10.000
$D_GRID,107
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.11,-251.7,0.0,0.0,0,111,0.00,0.00,-90.75,0.000,2,0.000,0.000,427,2045,2901
$GC,114,-1.16,-293.3,3.3,-4.4,12,168,12.75,2.42,-30.17,0.000,4,0.159,0.066,2826,3445,3952
$GC,253,-1.16,-293.3,15.2,-8.0,34,261,0.00,2.35,0.00,0.000,6,0.000,0.043,2826,2044,3953
$GC,328,-1.16,-293.3,20.9,-7.0,47,336,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2044,3953
$GC,404,-1.16,-293.3,26.5,-7.9,60,412,0.00,2.42,0.00,0.000,4,0.000,0.057,2826,3454,3953
$GC,469,-1.16,-293.3,31.7,-7.8,71,475,0.00,2.33,0.00,0.000,6,0.000,0.041,2826,2042,3953
$GC,607,-1.16,-293.3,43.1,-8.0,96,615,0.00,2.42,0.00,0.000,4,0.000,0.056,2826,3454,3953
$GC,695,-1.16,-293.3,50.6,-8.9,111,700,0.00,2.33,0.00,0.000,6,0.000,0.040,2825,2045,3953
$GC,832,-1.16,-293.3,61.8,-7.9,136,841,0.00,2.40,0.00,0.000,4,0.000,0.054,2826,3447,3953
$GC,911,-1.16,-293.3,68.0,-8.5,149,917,0.00,2.30,0.00,0.000,6,0.000,0.039,2826,2045,3953
$GC,1049,-1.16,-293.3,79.0,-7.5,174,1057,0.00,2.40,0.00,0.000,4,0.000,0.054,2826,3451,3953
$GC,1072,-1.16,-293.3,80.5,-7.2,177,1078,0.00,2.33,0.00,0.000,6,0.000,0.039,2826,2037,3953
$GC,1210,-1.16,-293.3,91.1,-7.3,202,1219,0.00,2.42,0.00,0.000,4,0.000,0.054,2826,3455,3953
$GC,1265,-1.16,-293.3,95.2,-7.9,211,1271,0.00,2.33,0.00,0.000,6,0.000,0.038,2826,2039,3953
$GC,1404,-1.16,-293.3,105.5,-7.1,236,1412,0.00,2.40,0.00,0.000,4,0.000,0.052,2826,3448,3953
$STATE,1429,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1429,begin apogee
$GC,1435,-0.31,0.0,107.3,6.9,240,1548,0.85,0.00,108.70,0.724,6,0.094,0.000,3012,2044,3393
$STATE,1549,end apogee,CONTROL_FINISHED_OK
$STATE,1549,begin climb
$GC,1551,1.16,293.3,109.4,0.0,258,1791,1.45,2.45,226.93,0.690,4,0.072,0.051,3334,3449,2196
$GC,1834,1.16,293.3,82.5,11.9,304,1843,0.00,2.38,0.00,0.000,6,0.000,0.048,3334,2045,2194
$GC,1977,1.16,293.3,65.8,11.4,329,1982,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2045,2195
$GC,2114,1.16,293.3,49.8,11.1,354,2121,0.00,2.40,0.00,0.000,4,0.000,0.051,3334,3452,2195
$GC,2178,1.16,293.3,42.4,11.8,365,2184,0.00,2.35,0.00,0.000,6,0.000,0.041,3334,2041,2194
$GC,2318,1.16,293.3,26.6,11.3,390,2327,0.00,2.42,0.00,0.000,4,0.000,0.051,3334,3458,2194
$GC,2350,1.16,293.3,22.8,12.0,395,2358,0.00,2.38,0.00,0.000,6,0.000,0.041,3334,2045,2194
$GC,2426,1.16,293.3,14.6,10.3,408,2434,0.00,2.65,0.00,0.000,4,0.000,0.104,3334,650,2194
$GC,2442,1.17,302.6,13.0,9.7,410,2458,0.00,2.42,8.85,0.582,6,0.000,0.067,3334,2049,2158
$GC,2526,1.29,400.3,5.7,7.4,424,2610,0.12,2.45,78.10,0.629,4,0.064,0.059,3370,3447,1760
$STATE,2617,end climb,SURFACE_DEPTH_REACHED
$STATE,2617,begin surface coast
$FINISH,0.3,1.016897
$STATE,2728,end surface coast,CONTROL_FINISHED_OK
$STATE,2728,begin surface
$SM_CCo,2750,183.98,0.545,20,0,947,600.00
$SM_GC,1.05,0.00,0.00,183.98,0.000,0.000,0.545,428,2043,947,-12.22,-0.03,600.00
$IRIDIUM_FIX,4748.51,-12224.57,080597,141442
$TT8_MAMPS,0.026078
$HUMID,1487
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,12.20
$XPDR_PINGS,298
$24V_AH,23.6,3.271
$10V_AH,10.1,1.820
$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,27.700,57.450,422.575,183.975,0.000,50.348,78.920,347.834,75.250,0.000,0.000,12.452,671.756,374.149,676.639,1383.657,579.086,0.000,1284.633,0.000,1395.184,0.000,5.553
$DEVICE_MAMPS,158.769,104.312,724.048,544.570,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,319.356,210.072,304.813,514.773,1084.726,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38085,456
$CAP_FILE_SIZE,56149,0
$CFSIZE,260165632,257204224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,20,0
$GPS,120208,150657,4806.141,-12222.104,13,1.4,13,18.3