version: 66.02
glider: 103
mission: 6
dive: 14
start: 10 9 107 7 8 21
data:
$ID,103
$MISSION,6
$DIVE,14
$D_SURF,4
$D_FLARE,3
$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,62.5
$T_MISSION,80
$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,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,52000
$NAV_MODE,1
$FERRY_MAX,55
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,48.133301
$TGT_DEFAULT_LON,-122.3833
$TGT_AUTO_DEFAULT,0
$SM_CC,660
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-61449.922
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,55
$PITCH_MAX,3362
$C_PITCH,2100
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,229
$ROLL_MAX,3788
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,572
$VBD_MAX,3921
$C_VBD,3309
$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,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-15.352555
$PRESSURE_SLOPE,0.0001162
$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,60
$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
$DEVICE3,35
$DEVICE4,-1
$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,0.0043712188
$SEABIRD_T_H,0.00064056052
$SEABIRD_T_I,2.37435e-05
$SEABIRD_T_J,2.3296527e-06
$SEABIRD_C_G,-9.8560104
$SEABIRD_C_H,1.1097485
$SEABIRD_C_I,-0.0009817977
$SEABIRD_C_J,0.00017126031
$GPS1,070353,4806.311,-12222.036,10,7.6,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.38
$_SM_ANGLEo,-52.4
$GPS2,070733,4806.278,-12221.970,13,2.0,13,18.3
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.201,0.137
$KALMAN_X,2623.6,51.4,-96.8,-1255.1,645.2
$KALMAN_Y,-2578.4,-210.4,15.5,96.9,-377.2
$MHEAD_RNG_PITCHd_Wd,286.0,4059,-14.9,-8.000
$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,-1.42,-146.6,0.0,0.0,0,140,0.00,0.00,-119.62,0.000,6,0.000,0.000,51,2487,3908
$GC,142,-1.42,-146.6,2.3,-5.1,22,160,9.80,2.47,0.00,0.000,4,0.156,0.082,1783,3765,3908
$GC,306,-1.42,-146.6,19.9,-9.8,51,312,0.00,2.20,0.00,0.000,6,0.000,0.041,1783,2503,3908
$GC,375,-1.42,-146.6,26.4,-8.7,58,376,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,2502,3908
$GC,566,-1.42,-146.6,42.5,-8.5,76,570,0.00,2.50,0.00,0.000,4,0.000,0.052,1783,1093,3907
$GC,609,-1.42,-146.6,46.2,-8.7,79,616,0.00,2.47,0.00,0.000,6,0.000,0.048,1783,2490,3907
$GC,801,-1.42,-146.6,62.1,-8.1,91,806,0.00,2.45,0.00,0.000,4,0.000,0.083,1783,3779,3907
$GC,917,-1.42,-146.6,72.0,-8.2,96,923,0.00,2.25,0.00,0.000,6,0.000,0.041,1783,2505,3907
$GC,1239,-1.42,-146.6,97.2,-7.7,112,1240,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,2505,3907
$STATE,1439,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1439,begin apogee
$GC,1443,-0.42,0.0,112.9,7.7,129,1563,1.08,0.00,115.88,0.795,6,0.075,0.000,2006,1997,3308
$STATE,1564,end apogee,CONTROL_FINISHED_OK
$STATE,1564,begin climb
$GC,1565,1.42,146.6,115.3,0.0,141,1692,1.83,2.62,114.43,0.764,4,0.048,0.058,2408,599,2710
$GC,1786,1.42,146.6,93.1,13.4,159,1791,0.00,2.47,0.00,0.000,6,0.000,0.033,2407,2005,2711
$GC,2113,1.42,146.6,51.9,12.1,175,2117,0.00,2.55,0.00,0.000,4,0.000,0.057,2408,597,2711
$GC,2241,1.42,146.6,36.1,12.3,185,2245,0.00,2.42,0.00,0.000,6,0.000,0.035,2408,1997,2711
$GC,2440,1.42,146.6,14.5,9.2,207,2446,0.00,2.55,0.00,0.000,4,0.000,0.057,2408,590,2711
$GC,2525,1.42,146.6,6.5,9.4,222,2531,0.00,2.45,0.00,0.000,6,0.000,0.036,2408,2009,2711
$STATE,2552,end climb,SURFACE_DEPTH_REACHED
$STATE,2552,begin surface coast
$FINISH,1.4,1.020336
$STATE,2598,end surface coast,CONTROL_FINISHED_OK
$STATE,2598,begin surface
$SM_CCo,2616,320.73,0.698,1,0,617,660.10
$SM_GC,-0.46,0.00,0.00,320.73,0.000,0.000,0.698,53,2500,617,-9.42,0.00,660.10
$IRIDIUM_FIX,4748.51,-12224.57,091007,101012
$TT8_MAMPS,0.028379
$HUMID,2032
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,18.40
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,81.2,41.6
$24V_AH,23.7,5.772
$10V_AH,10.2,2.180
$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,23.375,31.175,230.300,320.725,0.000,32.773,48.879,77.035,2.750,0.000,0.000,13.653,396.601,1395.122,625.516,560.193,199.486,33.319,941.648,0.000,557.842,0.000,8.533
$DEVICE_MAMPS,156.468,82.836,794.612,697.970,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,155.497,170.914,402.847,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12836,235
$CFSIZE,260165632,258781184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$GPS,091007,075837,4806.458,-12222.254,29,1.9,43,18.3