version: 66.02
glider: 144
mission: 2
dive: 15
start: 12 12 107 11 5 20
data:
$ID,144
$MISSION,2
$DIVE,15
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,500
$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,5
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51458
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$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,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,650
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-823.89856
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,500
$PITCH_MAX,3812
$C_PITCH,2754
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3940
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2190
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3950
$C_VBD,3503
$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,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-2.6104116
$PRESSURE_SLOPE,0.00011159377
$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,0
$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,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,54
$DEVICE4,35
$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,0.0043142079
$SEABIRD_T_H,0.00062953553
$SEABIRD_T_I,2.3274781e-05
$SEABIRD_T_J,2.4096155e-06
$SEABIRD_C_G,-10.012566
$SEABIRD_C_H,1.1222577
$SEABIRD_C_I,-0.0011971687
$SEABIRD_C_J,0.000188736
$GPS1,105908,4806.178,-12222.153,6,1.2,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-63.1
$GPS2,110456,4806.261,-12222.247,8,1.2,19,18.3
$SPEED_LIMITS,0.100,0.295
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,129.5,572,-16.9,-10.000
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.25,-156.1,0.0,0.0,0,87,0.00,0.00,-65.93,0.000,2,0.000,0.000,498,2181,2158
$GC,89,-1.30,-195.5,3.1,-5.0,12,163,10.55,2.53,-56.62,0.000,4,0.163,0.074,2467,3613,3951
$GC,343,-1.30,-195.5,22.5,-8.7,57,349,0.00,2.40,0.00,0.000,6,0.000,0.044,2467,2201,3952
$GC,417,-1.30,-195.5,29.1,-8.9,70,423,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2201,3952
$GC,491,-1.30,-195.5,35.8,-8.8,83,497,0.00,2.47,0.00,0.000,4,0.000,0.063,2467,789,3952
$GC,598,-1.30,-195.5,46.3,-9.6,102,604,0.00,2.42,0.00,0.000,6,0.000,0.047,2467,2210,3951
$GC,739,-1.30,-195.5,59.8,-9.1,127,745,0.00,2.50,0.00,0.000,4,0.000,0.061,2467,793,3951
$GC,835,-1.30,-195.5,69.3,-9.7,144,841,0.00,2.40,0.00,0.000,6,0.000,0.048,2467,2202,3951
$GC,977,-1.30,-195.5,82.1,-8.6,169,983,0.00,2.47,0.00,0.000,4,0.000,0.061,2467,794,3951
$GC,1072,-1.30,-195.5,90.9,-8.8,186,1079,0.00,2.40,0.00,0.000,6,0.000,0.047,2467,2204,3951
$GC,1214,-1.30,-195.5,103.2,-8.5,211,1221,0.00,2.45,0.00,0.000,4,0.000,0.061,2467,797,3951
$STATE,1259,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1259,begin apogee
$GC,1265,-0.31,0.0,107.5,9.2,219,1356,1.00,0.00,86.12,0.688,6,0.101,0.000,2681,2191,3503
$STATE,1357,end apogee,CONTROL_FINISHED_OK
$STATE,1357,begin climb
$GC,1358,1.30,195.5,110.3,0.0,236,1519,1.55,2.50,150.73,0.665,4,0.070,0.058,3030,3601,2705
$GC,1564,1.30,195.5,94.8,11.9,274,1570,0.00,2.40,0.00,0.000,6,0.000,0.041,3030,2189,2704
$GC,1705,1.30,195.5,79.6,10.3,299,1710,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2188,2704
$GC,1845,1.30,195.5,64.9,10.6,324,1850,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2188,2704
$GC,1985,1.30,195.5,49.9,10.7,349,1991,0.00,2.45,0.00,0.000,4,0.000,0.057,3030,3594,2704
$GC,2013,1.30,195.5,46.7,11.5,354,2020,0.00,2.38,0.00,0.000,6,0.000,0.040,3030,2186,2704
$GC,2155,1.30,195.5,31.2,10.9,379,2160,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2186,2704
$GC,2295,1.30,195.5,16.1,10.2,404,2300,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2186,2704
$GC,2368,1.33,226.9,9.0,8.6,417,2402,0.00,2.50,25.45,0.604,4,0.000,0.056,3030,3594,2577
$GC,2436,1.50,365.6,4.8,4.0,429,2543,0.22,2.38,99.85,0.596,2,0.057,0.041,3090,2183,2045
$STATE,2544,end climb,SURFACE_DEPTH_REACHED
$STATE,2544,begin surface coast
$FINISH,4.0,1.016368
$STATE,2616,end surface coast,CONTROL_FINISHED_OK
$STATE,2616,begin surface
$SM_CCo,2618,319.52,0.553,15,0,480,741.54
$SM_GC,1.40,11.25,0.00,0.00,0.051,0.000,0.000,494,2182,475,-10.33,-0.51,742.52
$IRIDIUM_FIX,4801.38,-11758.05,121207,141425
$TT8_MAMPS,0.026078
$HUMID,1636
$INTERNAL_PRESSURE,8.25227
$TCM_TEMP,17.80
$XPDR_PINGS,145
$24V_AH,23.7,2.442
$10V_AH,10.1,1.004
$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,24.575,39.050,362.150,319.525,0.000,40.500,31.733,188.505,36.250,0.000,0.000,21.012,640.974,880.091,797.139,833.332,339.608,0.000,1273.439,0.000,826.307,0.000,0.469
$DEVICE_MAMPS,163.371,74.399,687.999,553.007,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,313.399,222.581,0.000,529.504,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25551,461
$CFSIZE,260165632,258461696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,15,0
$GPS,121207,115832,4806.208,-12222.226,37,1.6,37,18.3