version: 66.04
glider: 157
mission: 2
dive: 6
start: 8 28 108 22 59 56
data:
$ID,157
$MISSION,2
$DIVE,6
$D_SURF,4
$D_FLARE,3
$D_TGT,140
$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,67
$T_MISSION,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$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,51679
$NAV_MODE,1
$FERRY_MAX,45
$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,460
$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,-12585.521
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,90
$PITCH_MAX,4043
$C_PITCH,1890
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.02
$PITCH_GAIN,38
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,231
$ROLL_MAX,3879
$ROLL_DEG,40
$C_ROLL_DIVE,2410
$C_ROLL_CLIMB,2210
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,485
$VBD_MAX,3960
$C_VBD,2659
$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,7
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,148
$AH0_10V,112
$PHONE_SUPPLY,2
$PRESSURE_YINT,-19.55625
$PRESSURE_SLOPE,0.0001140972
$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,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
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,103
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004313
$SEABIRD_T_H,0.00063151005
$SEABIRD_T_I,2.4073433e-05
$SEABIRD_T_J,2.5600611e-06
$SEABIRD_C_G,-10.151347
$SEABIRD_C_H,1.1458639
$SEABIRD_C_I,-0.00036424753
$SEABIRD_C_J,0.00012563137
$GPS1,225237,4807.783,-12223.866,11,1.3,21,18.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-69.5
$GPS2,225917,4807.887,-12223.953,15,2.3,34,18.3
$SPEED_LIMITS,0.121,0.228
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.168,-0.154
$KALMAN_X,-2187.6,-1153.9,-390.4,2442.4,-577.2
$KALMAN_Y,1700.5,808.3,244.0,-1933.2,474.5
$MHEAD_RNG_PITCHd_Wd,114.1,4248,-12.0,-6.965
$D_GRID,140
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-0.50,-146.6,0.0,0.0,0,96,0.00,0.00,-82.90,0.000,2,0.000,0.000,90,2424,2950
$GC,98,-0.50,-146.6,3.9,-4.9,13,118,6.65,2.35,-6.75,0.000,4,0.262,0.080,1737,982,3259
$GC,140,0.49,-146.6,10.6,-14.9,21,147,0.98,2.38,0.00,0.000,6,0.143,0.067,2052,2407,3260
$GC,213,-0.89,-146.6,10.1,-0.9,37,219,1.50,2.30,0.00,0.000,4,0.177,0.069,1600,3834,3261
$GC,233,-1.65,-146.6,11.3,-4.6,41,240,0.60,2.35,0.00,0.000,6,0.049,0.058,1340,2392,3260
$GC,306,-0.27,-146.6,19.4,-13.7,57,312,1.73,2.35,0.00,0.000,4,0.237,0.066,1786,3834,3261
$GC,396,-0.32,-146.6,23.8,-3.6,77,402,0.00,2.30,0.00,0.000,6,0.000,0.058,1786,2413,3261
$GC,467,-0.32,-146.6,26.0,-2.8,93,474,0.00,2.28,0.00,0.000,4,0.000,0.061,1786,990,3261
$GC,505,-0.32,-146.6,27.2,-3.3,101,511,0.00,2.35,0.00,0.000,6,0.000,0.067,1778,2416,3261
$GC,577,-0.28,-146.6,29.3,-2.7,117,583,0.00,2.30,0.00,0.000,4,0.000,0.074,1773,3822,3261
$GC,631,-0.28,-146.6,31.2,-3.6,129,638,0.00,2.28,0.00,0.000,6,0.000,0.057,1773,2408,3261
$GC,703,-0.22,-146.6,33.8,-3.5,145,710,0.17,2.25,0.00,0.000,4,0.126,0.061,1833,997,3262
$GC,745,-0.41,-146.6,34.9,-2.5,154,752,0.20,2.30,0.00,0.000,6,0.063,0.065,1746,2408,3261
$GC,818,-0.24,-146.6,38.0,-4.6,170,824,0.20,2.30,0.00,0.000,4,0.140,0.073,1803,3817,3261
$GC,851,-0.29,-146.6,39.2,-3.6,177,857,0.00,2.25,0.00,0.000,6,0.000,0.056,1803,2414,3262
$GC,923,-0.49,-146.6,41.6,-3.6,193,929,0.20,2.22,0.00,0.000,4,0.064,0.059,1708,988,3262
$GC,998,-0.16,-146.6,46.4,-7.2,210,1004,0.40,2.33,0.00,0.000,6,0.153,0.066,1841,2408,3262
$GC,1135,-0.73,-146.6,50.2,-3.7,241,1140,0.52,0.00,0.00,0.000,6,0.086,0.000,1646,2409,3262
$GC,1271,-0.16,-146.6,61.6,-10.2,272,1278,0.62,2.28,0.00,0.000,4,0.167,0.072,1830,3836,3262
$GC,1304,-0.16,-146.6,62.8,-4.9,279,1310,0.00,2.25,0.00,0.000,6,0.000,0.057,1838,2410,3262
$GC,1440,-0.62,-146.6,66.9,-4.3,310,1447,0.40,2.20,0.00,0.000,4,0.077,0.061,1684,989,3262
$GC,1500,-0.22,-146.6,70.3,-6.1,323,1505,0.47,2.30,0.00,0.000,6,0.163,0.068,1821,2420,3262
$GC,1636,-0.63,-146.6,74.4,-3.4,354,1642,0.38,0.00,0.00,0.000,6,0.076,0.000,1678,2420,3262
$GC,1774,-0.21,-146.6,83.7,-7.8,385,1780,0.45,2.28,0.00,0.000,4,0.159,0.062,1820,988,3262
$GC,1814,-0.29,-146.6,85.1,-2.8,394,1821,0.00,2.33,0.00,0.000,6,0.000,0.066,1820,2418,3262
$GC,1953,-0.69,-146.6,88.6,-3.6,425,1958,0.40,2.25,0.00,0.000,4,0.072,0.071,1662,3832,3262
$GC,2001,-0.27,-146.6,91.4,-6.3,436,2008,0.43,2.28,0.00,0.000,6,0.161,0.058,1797,2410,3262
$GC,2140,-0.42,-146.6,95.4,-2.6,467,2145,0.15,2.20,0.00,0.000,4,0.062,0.061,1721,996,3262
$GC,2185,-0.22,-146.6,97.7,-5.5,477,2191,0.38,2.28,0.00,0.000,6,0.148,0.067,1826,2413,3261
$STATE,2255,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2255,begin apogee
$GC,2259,-0.13,0.0,99.2,1.5,493,2371,0.00,0.00,108.82,0.746,6,0.000,0.000,1826,2206,2659
$STATE,2372,end apogee,CONTROL_FINISHED_OK
$STATE,2372,begin climb
$GC,2373,0.50,146.6,99.0,0.0,512,2492,0.62,2.38,111.32,0.686,4,0.087,0.062,2060,796,2060
$GC,2524,0.23,146.6,76.8,18.1,539,2530,0.35,2.38,0.00,0.000,6,0.146,0.063,1956,2203,2059
$GC,2660,0.23,146.6,63.3,8.7,570,2666,0.00,2.38,0.00,0.000,4,0.000,0.071,1957,3625,2057
$GC,2710,0.29,146.6,58.8,8.8,581,2716,0.00,2.30,0.00,0.000,6,0.000,0.059,1961,2213,2057
$GC,2846,0.29,146.6,47.0,8.8,612,2853,0.00,2.33,0.00,0.000,4,0.000,0.066,1966,788,2056
$GC,2874,0.36,146.6,44.8,8.4,618,2881,0.10,2.35,0.00,0.000,6,0.056,0.064,2034,2209,2056
$GC,3012,0.14,146.6,25.2,14.8,649,3019,0.30,2.30,0.00,0.000,4,0.146,0.070,1937,3638,2056
$GC,3041,0.07,146.6,21.8,12.9,655,3047,0.00,2.33,0.00,0.000,6,0.000,0.059,1937,2211,2056
$GC,3113,0.28,191.3,17.6,5.5,671,3152,0.15,2.30,33.53,0.696,4,0.064,0.064,2031,796,1879
$GC,3175,0.18,191.3,10.9,12.1,682,3181,0.25,2.38,0.00,0.000,6,0.114,0.064,1944,2217,1877
$GC,3247,0.58,273.5,7.1,4.3,698,3294,0.35,0.00,44.10,0.664,2,0.065,0.000,2084,2218,1648
$STATE,3294,end climb,SURFACE_DEPTH_REACHED
$STATE,3294,begin surface coast
$FINISH,1.3,1.018016
$STATE,3358,end surface coast,CONTROL_FINISHED_OK
$STATE,3358,begin surface
$SM_CCo,3370,165.68,0.644,0,0,783,460.18
$SM_GC,0.70,0.00,0.00,165.68,0.000,0.000,0.644,89,2419,783,-5.63,0.25,460.18
$IRIDIUM_FIX,4751.72,-12226.29,221197,222219
$TT8_MAMPS,0.048321
$HUMID,1978
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.0,37.7
$24V_AH,24.1,4.771
$10V_AH,10.6,2.068
$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,Compass2
$DEVICE_SECS,24.400,83.550,297.775,165.675,0.000,31.623,27.583,231.959,0.500,0.000,0.000,37.171,0.000,1121.138,545.612,1850.374,413.430,33.309,1206.395,0.000,1575.637,0.000,5.495,0.000
$DEVICE_MAMPS,261.547,79.768,745.524,643.513,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,PAR,nil,nil,nil,nil
$SENSOR_SECS,491.558,361.730,1146.616,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41107,720
$CAP_FILE_SIZE,83703,0
$CFSIZE,260165632,257781760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280808,235937,4807.750,-12223.820,10,1.6,26,18.3