version: 66.03
glider: 145
mission: 1
dive: 13
start: 2 12 108 9 11 24
data:
$ID,145
$MISSION,1
$DIVE,13
$D_SURF,3
$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,60
$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,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$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,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,550
$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,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2504.4053
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,429
$PITCH_MAX,3741
$C_PITCH,2925
$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,183
$ROLL_MAX,3940
$ROLL_DEG,40
$C_ROLL_DIVE,2234
$C_ROLL_CLIMB,2234
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3982
$C_VBD,3475
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$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,-14.969851
$PRESSURE_SLOPE,0.0001163609
$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,5
$ALTIM_SENSITIVITY,1
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,3.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$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,0.0043682093
$SEABIRD_T_H,0.00063645886
$SEABIRD_T_I,2.5728024e-05
$SEABIRD_T_J,2.8812779e-06
$SEABIRD_C_G,-10.192017
$SEABIRD_C_H,1.154353
$SEABIRD_C_I,-0.0017179218
$SEABIRD_C_J,0.00021944837
$GPS1,085221,4806.999,-12222.869,12,1.6,12,18.3
$_CALLS,4
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-65.8
$GPS2,091026,4806.986,-12222.907,14,1.2,31,18.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.167,-0.243
$KALMAN_X,-1625.8,-366.0,-91.1,3743.1,78.7
$KALMAN_Y,1860.1,444.9,176.0,-4547.4,-190.8
$MHEAD_RNG_PITCHd_Wd,127.2,2143,-14.9,-10.000
$D_GRID,105
$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,-1.17,-195.5,0.0,0.0,0,133,0.00,0.00,-113.30,0.000,2,0.000,0.000,428,2236,2622
$GC,135,-1.17,-195.5,3.1,-4.1,15,195,12.57,2.50,-39.20,0.000,4,0.179,0.099,2664,3632,3984
$GC,318,-1.17,-195.5,21.1,-8.4,45,326,0.00,2.42,0.00,0.000,6,0.000,0.048,2663,2235,3984
$GC,394,-1.17,-195.5,27.1,-7.3,58,402,0.00,2.50,0.00,0.000,4,0.000,0.060,2663,3638,3984
$GC,431,-1.17,-195.5,30.0,-8.0,64,439,0.00,2.42,0.00,0.000,6,0.000,0.046,2663,2240,3984
$GC,576,-1.17,-195.5,40.2,-6.5,89,581,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2240,3984
$GC,715,-1.17,-195.5,49.9,-6.8,114,722,0.00,2.53,0.00,0.000,4,0.000,0.067,2664,827,3984
$GC,746,-1.17,-195.5,52.2,-7.7,119,752,0.00,2.38,0.00,0.000,6,0.000,0.042,2664,2232,3983
$GC,884,-1.17,-195.5,61.9,-6.8,144,892,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2233,3983
$GC,1026,-1.17,-195.5,71.3,-6.6,169,1032,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2232,3983
$GC,1163,-1.17,-195.5,80.9,-6.7,194,1171,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2233,3983
$GC,1306,-1.17,-195.5,89.9,-6.4,219,1312,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2233,3983
$GC,1444,-1.17,-195.5,98.6,-5.9,244,1452,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2233,3983
$STATE,1554,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1554,begin apogee
$GC,1558,-0.31,0.0,105.2,5.8,264,1659,0.90,0.00,96.93,0.659,6,0.103,0.000,2851,2233,3475
$STATE,1660,end apogee,CONTROL_FINISHED_OK
$STATE,1660,begin climb
$GC,1661,1.17,195.5,106.5,0.0,280,1821,1.45,2.55,151.52,0.625,4,0.067,0.060,3177,3641,2678
$GC,1839,1.17,195.5,90.4,13.9,308,1847,0.00,2.45,0.00,0.000,6,0.000,0.043,3177,2229,2677
$GC,1982,1.17,195.5,71.4,13.1,333,1987,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2229,2676
$GC,2120,1.17,195.5,53.3,12.3,358,2128,0.00,2.50,0.00,0.000,4,0.000,0.080,3177,3642,2676
$GC,2152,1.17,195.5,49.0,13.6,363,2158,0.00,2.40,0.00,0.000,6,0.000,0.044,3177,2235,2676
$GC,2291,1.17,195.5,30.5,12.6,388,2299,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2235,2676
$GC,2432,1.20,217.1,14.7,9.3,413,2455,0.00,0.00,18.05,0.565,6,0.000,0.000,3177,2234,2590
$GC,2523,1.33,325.0,8.6,6.3,428,2615,0.15,2.50,85.68,0.568,4,0.058,0.085,3222,3639,2148
$STATE,2715,end climb,SURFACE_DEPTH_REACHED
$STATE,2715,begin surface coast
$FINISH,3.3,1.016706
$STATE,2939,end surface coast,CONTROL_FINISHED_OK
$STATE,2939,begin surface
$SM_CCo,2942,320.88,0.550,2,0,500,729.77
$SM_GC,1.32,12.25,0.00,0.00,0.045,0.000,0.000,429,2234,496,-11.43,0.00,730.75
$IRIDIUM_FIX,4751.72,-12324.41,080597,090917
$TT8_MAMPS,0.026078
$HUMID,1143
$INTERNAL_PRESSURE,10.8175
$TCM_TEMP,12.30
$XPDR_PINGS,347
$24V_AH,23.7,1.932
$10V_AH,10.1,1.351
$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,27.325,29.600,352.175,320.875,0.000,95.881,357.782,344.396,87.500,0.000,0.000,32.779,741.050,617.858,677.414,1554.353,898.100,33.325,1282.435,0.000,1549.322,0.000,5.556
$DEVICE_MAMPS,178.711,98.943,658.853,549.939,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,341.881,243.321,345.231,582.338,1225.342,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41238,499
$CAP_FILE_SIZE,56433,0
$CFSIZE,260165632,257400832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$GPS,120208,100901,4806.729,-12222.674,34,1.3,40,18.3