version: 66.02
glider: 14
mission: 2
dive: 16
start: 12 12 107 10 27 42
data:
$ID,14
$MISSION,2
$DIVE,16
$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,240
$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,22
$KALMAN_USE,1
$HD_A,0.00312
$HD_B,0.0099099996
$HD_C,2.4896e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,600
$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,-130718.54
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,42
$PITCH_MAX,3363
$C_PITCH,2378
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15.5
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,202
$ROLL_MAX,3893
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,187
$VBD_MAX,3559
$C_VBD,2948
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00159
$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,95.400002
$AH0_10V,61.200001
$PRESSURE_YINT,-15.060091
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,-0.69999999
$TCM_ROLL_OFFSET,0.5
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$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,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,17
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042855334
$SEABIRD_T_H,0.00062604493
$SEABIRD_T_I,2.1829796e-05
$SEABIRD_T_J,2.0724553e-06
$SEABIRD_C_G,-9.9956274
$SEABIRD_C_H,1.1210338
$SEABIRD_C_I,-0.0011134691
$SEABIRD_C_J,0.00016706332
$GPS1,102150,4806.184,-12221.995,7,1.9,7,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-69.1
$GPS2,102645,4806.251,-12222.083,13,1.5,13,18.3
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.079,-0.221
$KALMAN_X,-1789.0,-108.8,71.4,3401.0,-243.2
$KALMAN_Y,5065.6,167.5,-222.6,-7887.4,590.0
$MHEAD_RNG_PITCHd_Wd,142.1,476,-14.4,-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,42,end surface,CONTROL_FINISHED_OK
$STATE,42,begin dive
$GC,46,-1.16,-146.6,0.0,0.0,0,111,0.00,0.00,-62.28,0.000,2,0.000,0.000,38,2187,1600
$GC,115,-1.16,-146.6,3.0,-4.8,12,203,11.85,2.67,-67.25,0.000,4,0.183,0.111,2118,3603,3548
$GC,391,-1.16,-146.6,21.0,-6.3,60,395,0.00,2.45,0.00,0.000,6,0.000,0.064,2118,2194,3548
$GC,590,-1.16,-146.6,33.4,-6.2,78,594,0.00,2.50,0.00,0.000,4,0.000,0.077,2118,796,3548
$GC,631,-1.16,-146.6,35.9,-6.5,81,635,0.00,2.42,0.00,0.000,6,0.000,0.061,2118,2206,3548
$GC,829,-1.16,-146.6,48.3,-6.1,99,831,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2206,3547
$GC,1027,-1.16,-146.6,60.2,-5.8,110,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2206,3547
$GC,1336,-1.16,-146.6,78.6,-6.0,125,1340,0.00,2.65,0.00,0.000,4,0.000,0.106,2118,3604,3548
$GC,1391,-1.16,-146.6,82.2,-6.2,127,1397,0.00,2.45,0.00,0.000,6,0.000,0.064,2118,2193,3547
$GC,1709,-1.16,-146.6,100.3,-5.7,143,1715,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2192,3547
$STATE,1947,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1947,begin apogee
$GC,1956,-0.32,0.0,114.1,5.7,166,2073,0.88,0.00,111.20,0.802,6,0.105,0.000,2301,2307,2948
$STATE,2074,end apogee,CONTROL_FINISHED_OK
$STATE,2074,begin climb
$GC,2077,1.16,146.6,115.1,0.0,178,2195,1.50,0.00,111.93,0.766,6,0.072,0.000,2634,2307,2350
$GC,2508,1.16,146.6,48.8,16.9,206,2513,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2307,2350
$GC,2707,1.16,146.6,16.1,15.9,227,2714,0.00,2.65,0.00,0.000,4,0.000,0.104,2634,3699,2350
$GC,2794,1.16,146.6,5.2,10.0,242,2801,0.00,2.42,0.00,0.000,6,0.000,0.064,2634,2301,2350
$GC,2870,1.56,396.3,6.0,-1.5,255,3000,0.32,0.00,125.57,0.696,2,0.059,0.000,2728,2301,1668
$STATE,3001,end climb,SURFACE_DEPTH_REACHED
$STATE,3001,begin surface coast
$FINISH,3.4,1.016694
$STATE,3135,end surface coast,CONTROL_FINISHED_OK
$STATE,3136,begin surface
$SM_CCo,3161,150.77,0.670,0,0,502,600.00
$SM_GC,1.91,0.00,0.00,150.77,0.000,0.000,0.670,39,2185,502,-10.76,-0.42,600.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1586
$TCM_TEMP,3.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.1
$ALTIM_BOTTOM_PING,80.1,43.9
$24V_AH,23.8,2.307
$10V_AH,10.1,0.879
$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,26.700,20.575,348.700,150.775,0.000,32.537,43.619,109.373,1.250,0.000,0.000,14.804,472.693,1702.431,557.131,565.749,328.990,33.336,898.425,0.000,289.599,0.000,12.955
$DEVICE_MAMPS,183.313,111.215,801.515,669.591,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,269.232,277.349,522.272,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15974,303
$CFSIZE,254472192,252624896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,121207,112345,4806.105,-12222.058,11,1.9,12,18.3