version: 66.02
glider: 119
mission: 2
dive: 9
start: 10 30 107 3 22 34
data:
$ID,119
$MISSION,2
$DIVE,9
$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,75
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51528
$NAV_MODE,1
$FERRY_MAX,30
$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,21.299999
$TGT_DEFAULT_LON,-157.8
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$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,-14087.117
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,1379
$PITCH_MAX,3813
$C_PITCH,3170
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,175
$ROLL_MAX,3878
$C_ROLL_DIVE,2220
$C_ROLL_CLIMB,2180
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3879
$C_VBD,3267
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-3.8181691
$PRESSURE_SLOPE,0.0001159777
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,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,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,0.004348367
$SEABIRD_T_H,0.00063394889
$SEABIRD_T_I,2.4089732e-05
$SEABIRD_T_J,2.5198262e-06
$SEABIRD_C_G,-10.04077
$SEABIRD_C_H,1.1285373
$SEABIRD_C_I,-0.0022196125
$SEABIRD_C_J,0.00025642588
$GPS1,031751,4806.314,-12222.388,10,1.6,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-75.3
$GPS2,032141,4806.327,-12222.395,10,2.3,29,18.3
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.166,-0.174
$KALMAN_X,-780.7,-175.0,-31.0,1964.9,-256.3
$KALMAN_Y,428.2,44.0,41.6,-3992.0,199.6
$MHEAD_RNG_PITCHd_Wd,118.1,778,-14.0,-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,-0.82,-146.6,0.0,0.0,0,85,0.00,0.00,-66.38,0.000,2,0.000,0.000,1378,2216,2756
$GC,87,-0.82,-146.6,3.1,-3.5,12,134,11.68,2.50,-28.58,0.000,4,0.180,0.084,2984,3618,3866
$GC,191,-0.82,-146.6,14.3,-10.4,30,197,0.00,2.33,0.00,0.000,6,0.000,0.043,2984,2213,3866
$GC,269,-0.82,-146.6,22.2,-10.1,42,270,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2213,3866
$GC,460,-0.82,-146.6,40.9,-10.0,60,464,0.00,2.42,0.00,0.000,4,0.000,0.069,2984,3625,3866
$GC,504,-0.82,-146.6,45.3,-10.0,64,508,0.00,2.30,0.00,0.000,6,0.000,0.044,2984,2218,3866
$GC,696,-0.82,-146.6,63.6,-9.1,75,697,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2218,3866
$GC,1006,-0.82,-146.6,92.7,-9.4,90,1010,0.00,2.40,0.00,0.000,4,0.000,0.070,2984,3623,3866
$GC,1066,-0.82,-146.6,98.6,-9.4,93,1070,0.00,2.28,0.00,0.000,6,0.000,0.044,2984,2216,3866
$GC,1397,-0.82,-146.6,123.3,-0.0,123,1401,0.00,2.40,0.00,0.000,4,0.000,0.071,2984,3623,3866
$STATE,1483,end dive,NO_VERTICAL_VELOCITY
$STATE,1483,begin apogee
$GC,1489,-0.23,0.0,123.3,0.0,130,1606,0.75,0.00,112.97,0.800,6,0.075,0.000,3119,2161,3266
$STATE,1607,end apogee,CONTROL_FINISHED_OK
$STATE,1607,begin climb
$GC,1608,0.82,146.6,123.2,0.0,142,1731,1.33,2.53,115.05,0.764,4,0.067,0.057,3342,780,2669
$GC,1810,0.82,146.6,109.4,12.6,161,1814,0.00,2.35,0.00,0.000,6,0.000,0.046,3343,2176,2669
$GC,2137,0.82,146.6,67.9,12.3,180,2138,0.00,0.00,0.00,0.000,6,0.000,0.000,3343,2176,2669
$GC,2450,0.82,146.6,31.5,10.5,202,2451,0.00,0.00,0.00,0.000,6,0.000,0.000,3343,2176,2668
$GC,2646,0.82,146.6,10.3,11.0,227,2651,0.00,0.00,0.00,0.000,6,0.000,0.000,3343,2176,2669
$GC,2719,0.91,219.3,4.8,5.3,240,2764,0.12,2.45,40.03,0.721,4,0.079,0.055,3367,778,2371
$STATE,2769,end climb,SURFACE_DEPTH_REACHED
$STATE,2769,begin surface coast
$FINISH,2.9,1.020783
$STATE,2815,end surface coast,CONTROL_FINISHED_OK
$STATE,2815,begin surface
$SM_CCo,2835,122.57,0.683,0,0,1228,500.17
$SM_GC,0.41,0.00,0.00,122.57,0.000,0.000,0.683,1376,2231,1228,-8.25,0.31,500.17
$IRIDIUM_FIX,4748.51,-12224.57,301007,060653
$TT8_MAMPS,0.027612
$HUMID,1878
$INTERNAL_PRESSURE,9.65857
$TCM_TEMP,18.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.9,42.8
$24V_AH,24.2,1.493
$10V_AH,10.7,0.623
$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,25.200,28.800,268.050,122.575,0.000,38.384,30.828,80.296,1.000,0.000,0.000,31.348,427.493,1581.477,428.066,579.493,190.056,33.343,745.362,0.000,560.671,0.000,8.511
$DEVICE_MAMPS,180.245,83.603,799.981,683.397,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,176.431,189.518,433.709,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12857,257
$CFSIZE,260165632,258514944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,301007,041301,4806.069,-12222.045,36,1.3,36,18.3