version: 66.03
glider: 136
mission: 2
dive: 13
start: 4 1 108 7 26 38
data:
$ID,136
$MISSION,2
$DIVE,13
$D_SURF,5.5999999
$D_FLARE,3
$D_TGT,195
$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,690
$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,-54333.766
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,679
$PITCH_MAX,3985
$C_PITCH,2960
$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,26
$R_STBD_OVSHOOT,27
$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
$GPS1,072003,4806.073,-12222.091,13,1.8,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-70.9
$GPS2,072538,4806.248,-12222.232,12,1.7,12,18.3
$SPEED_LIMITS,0.225,0.282
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.133,0.249
$KALMAN_X,-455.1,-34.4,-35.3,1221.1,-136.9
$KALMAN_Y,780.9,114.8,-47.7,-4443.8,119.3
$MHEAD_RNG_PITCHd_Wd,313.6,3912,-21.9,-13.000
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.75,-146.6,0.0,0.0,0,84,0.00,0.00,-60.62,0.000,2,0.000,0.000,674,2070,2264
$GC,87,-1.75,-146.6,3.1,-2.2,11,162,10.60,2.60,-58.47,0.000,4,0.147,0.056,2573,3487,3903
$GC,247,-1.75,-146.6,18.9,-15.1,44,254,0.00,2.47,0.00,0.000,6,0.000,0.035,2573,2079,3902
$GC,318,-1.75,-146.6,29.6,-15.4,60,325,0.00,2.53,0.00,0.000,4,0.000,0.045,2573,3487,3902
$GC,362,-1.75,-146.6,36.2,-16.9,69,368,0.00,2.47,0.00,0.000,6,0.000,0.035,2573,2078,3902
$GC,433,-1.75,-146.6,47.2,-13.8,85,438,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2078,3902
$GC,574,-1.75,-146.6,68.1,-14.3,116,581,0.00,2.53,0.00,0.000,4,0.000,0.046,2573,3484,3902
$GC,645,-1.75,-146.6,78.7,-15.8,131,651,0.00,2.50,0.00,0.000,6,0.000,0.035,2573,2068,3901
$GC,790,-1.75,-146.6,99.9,-14.4,162,797,0.00,2.55,0.00,0.000,4,0.000,0.046,2573,3489,3902
$STATE,836,end dive,TARGET_DEPTH_EXCEEDED
$STATE,836,begin apogee
$GC,845,-0.36,0.0,107.1,14.9,172,925,1.52,0.00,71.43,0.870,6,0.102,0.000,2873,2156,3522
$STATE,926,end apogee,CONTROL_FINISHED_OK
$STATE,926,begin climb
$GC,928,1.75,146.6,111.0,0.0,187,1050,2.15,2.72,110.65,0.855,4,0.063,0.065,3338,743,2924
$GC,1062,1.79,179.9,104.0,11.0,212,1096,0.00,2.58,26.80,0.809,6,0.000,0.049,3337,2152,2788
$GC,1233,1.79,179.9,80.0,14.0,248,1239,0.00,2.55,0.00,0.000,4,0.000,0.047,3338,3567,2788
$GC,1299,1.79,179.9,69.9,15.6,262,1305,0.00,2.53,0.00,0.000,6,0.000,0.033,3337,2140,2788
$GC,1445,1.79,179.9,49.5,14.3,293,1450,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2140,2788
$GC,1578,1.79,179.9,29.9,15.4,324,1583,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,2140,2787
$GC,1648,1.79,179.9,19.6,13.3,340,1655,0.00,2.55,0.00,0.000,4,0.000,0.044,3337,3564,2787
$GC,1702,1.79,179.9,11.7,15.0,352,1709,0.00,2.50,0.00,0.000,6,0.000,0.032,3338,2139,2787
$STATE,1750,end climb,SURFACE_DEPTH_REACHED
$STATE,1750,begin surface coast
$FINISH,3.5,1.019514
$STATE,1810,end surface coast,CONTROL_FINISHED_OK
$STATE,1810,begin surface
$SM_CCo,1832,371.88,0.765,5,0,709,690.03
$SM_GC,1.32,0.00,0.00,371.88,0.000,0.000,0.765,673,2062,709,-10.52,-0.42,690.03
$IRIDIUM_FIX,4751.72,-12340.51,260697,060638
$TT8_MAMPS,0.03068
$HUMID,1424
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,189.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,80.6,44.5
$24V_AH,23.4,2.406
$10V_AH,10.1,0.787
$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,26.400,35.600,208.875,371.875,0.000,22.823,30.828,175.169,1.000,0.000,0.000,15.452,551.262,275.411,683.906,723.247,353.844,33.324,1067.971,0.000,720.187,0.000,5.470
$DEVICE_MAMPS,147.264,66.729,869.778,765.466,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,249.946,499.236,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15960,377
$CAP_FILE_SIZE,41700,0
$CFSIZE,260165632,258580480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$GPS,010408,080459,4806.464,-12222.432,12,4.1,31,18.3