version: 66.03
glider: 136
mission: 2
dive: 5
start: 3 31 108 23 57 58
data:
$ID,136
$MISSION,2
$DIVE,5
$D_SURF,4
$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,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0232
$MASS,51077
$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,48.133331
$TGT_DEFAULT_LON,-122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,680
$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,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-54143.672
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,679
$PITCH_MAX,3985
$C_PITCH,2985
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3918
$ROLL_DEG,40
$C_ROLL_DIVE,2077
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3900
$C_VBD,3522
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$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,-2.6718953
$PRESSURE_SLOPE,0.0001163524
$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
$DEVICE2,35
$DEVICE3,-1
$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,0.0043748552
$SEABIRD_T_H,0.00063281442
$SEABIRD_T_I,2.1647942e-05
$SEABIRD_T_J,1.9060326e-06
$SEABIRD_C_G,-9.9140806
$SEABIRD_C_H,1.1150324
$SEABIRD_C_I,-0.00094694644
$SEABIRD_C_J,0.00016052932
$GPS1,235251,4807.782,-12222.235,9,1.7,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-68.0
$GPS2,235702,4807.765,-12222.248,12,1.6,29,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.051,-0.255
$KALMAN_X,53.9,9.3,-53.2,660.3,83.4
$KALMAN_Y,442.9,244.6,61.8,-1552.0,-0.0
$MHEAD_RNG_PITCHd_Wd,173.1,3283,-17.5,-10.000
$D_GRID,55
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.43,-146.6,0.0,0.0,0,95,0.00,0.00,-71.45,0.000,2,0.000,0.000,669,2068,2102
$GC,98,-1.43,-146.6,3.0,-5.8,13,174,11.10,2.60,-58.15,0.000,4,0.146,0.058,2667,3483,3902
$GC,413,-1.43,-146.6,21.6,-9.3,83,419,0.00,2.47,0.00,0.000,6,0.000,0.037,2667,2075,3901
$GC,484,-1.43,-146.6,28.5,-10.4,99,490,0.00,2.53,0.00,0.000,4,0.000,0.047,2667,3483,3901
$GC,659,-1.43,-146.6,47.4,-10.7,140,665,0.00,2.47,0.00,0.000,6,0.000,0.037,2667,2076,3900
$STATE,736,end dive,TARGET_DEPTH_EXCEEDED
$STATE,736,begin apogee
$GC,742,-0.36,0.0,55.2,10.0,157,817,1.15,0.00,71.30,0.861,6,0.094,0.000,2899,2149,3522
$STATE,818,end apogee,CONTROL_FINISHED_OK
$STATE,818,begin climb
$GC,820,1.43,146.6,57.8,0.0,171,937,1.80,0.00,111.32,0.841,6,0.058,0.000,3293,2149,2923
$GC,1071,1.43,146.6,40.2,10.7,223,1076,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,2148,2923
$GC,1141,1.43,146.6,32.7,10.7,239,1148,0.00,2.55,0.00,0.000,4,0.000,0.047,3293,3563,2924
$GC,1204,1.43,146.6,25.8,11.0,253,1210,0.00,2.50,0.00,0.000,6,0.000,0.036,3293,2153,2923
$GC,1275,1.43,146.6,18.4,10.0,269,1280,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,2153,2923
$GC,1346,1.44,158.1,11.5,9.5,285,1364,0.00,2.60,10.48,0.726,4,0.000,0.047,3293,3556,2877
$GC,1445,1.72,381.2,5.4,-0.3,307,1566,0.28,2.50,113.50,0.800,2,0.038,0.035,3364,2137,2283
$STATE,1567,end climb,NO_VERTICAL_VELOCITY
$STATE,1567,begin surface
$SM_CCo,1570,373.48,0.749,11,0,459,751.11
$SM_GC,0.96,11.95,0.00,0.00,0.028,0.000,0.000,671,2062,455,-10.57,-0.42,752.34
$IRIDIUM_FIX,4751.72,-12340.51,250697,232353
$TT8_MAMPS,0.029913
$HUMID,1429
$INTERNAL_PRESSURE,8.48665
$TCM_TEMP,189.30
$XPDR_PINGS,0
$24V_AH,23.4,1.123
$10V_AH,10.1,0.346
$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,26.275,20.475,306.600,373.475,0.000,0.000,0.000,0.000,0.000,0.000,0.000,31.247,450.909,253.307,759.612,678.473,61.680,33.334,1130.827,0.000,662.615,0.000,0.930
$DEVICE_MAMPS,145.730,70.564,861.341,749.359,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,215.052,540.224,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15898,328
$CAP_FILE_SIZE,129034,0
$CFSIZE,260165632,258756608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,11,0
$GPS,010408,003416,4807.538,-12222.297,9,2.2,28,18.3