version: 66.03
glider: 145
mission: 1
dive: 17
start: 2 12 108 13 29 31
data:
$ID,145
$MISSION,1
$DIVE,17
$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,-2566.9917
$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,21
$R_STBD_OVSHOOT,23
$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
$GPS1,131737,4806.145,-12222.103,26,2.0,26,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-70.4
$GPS2,132833,4806.193,-12222.157,14,1.5,14,18.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.092,-0.188
$KALMAN_X,-2178.2,-233.4,-11.4,5011.8,-8.0
$KALMAN_Y,2661.6,277.2,-69.2,-6411.5,53.5
$MHEAD_RNG_PITCHd_Wd,135.6,407,-22.4,-10.000
$D_GRID,108
$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,-1.51,-91.9,0.0,0.0,0,96,0.00,0.00,-75.95,0.000,2,0.000,0.000,430,2223,2690
$GC,98,-1.62,-181.0,3.1,-3.5,10,161,12.07,2.50,-40.03,0.000,4,0.180,0.074,2566,3631,3984
$GC,377,-1.62,-181.0,32.6,-10.6,57,383,0.00,2.40,0.00,0.000,6,0.000,0.080,2566,2234,3984
$GC,514,-1.62,-181.0,47.0,-10.3,82,523,0.00,2.50,0.00,0.000,4,0.000,0.059,2566,3638,3984
$GC,536,-1.62,-181.0,49.1,-10.5,85,542,0.00,2.40,0.00,0.000,6,0.000,0.047,2566,2235,3984
$GC,675,-1.62,-181.0,64.0,-10.7,110,682,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2235,3983
$GC,817,-1.62,-181.0,79.1,-10.8,135,822,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2235,3984
$GC,954,-1.62,-181.0,93.9,-10.4,160,962,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2235,3983
$GC,1100,-1.63,-186.7,107.9,-9.6,185,1106,0.00,2.45,0.00,0.000,4,0.000,0.062,2566,3640,3983
$STATE,1113,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1113,begin apogee
$GC,1119,-0.31,0.0,109.3,9.3,187,1223,1.40,0.00,97.05,0.659,6,0.114,0.000,2850,2235,3475
$STATE,1223,end apogee,CONTROL_FINISHED_OK
$STATE,1223,begin climb
$GC,1225,1.63,186.7,111.9,0.0,203,1376,1.88,0.00,144.62,0.627,6,0.062,0.000,3280,2235,2713
$GC,1511,1.63,186.7,70.2,19.2,251,1517,0.00,2.47,0.00,0.000,4,0.000,0.056,3280,3646,2711
$GC,1538,1.63,186.7,64.6,19.0,256,1547,0.00,2.42,0.00,0.000,6,0.000,0.051,3280,2235,2711
$GC,1683,1.63,186.7,38.5,17.8,281,1689,0.00,2.45,0.00,0.000,4,0.000,0.072,3280,3640,2711
$GC,1746,1.63,186.7,26.5,18.6,292,1755,0.00,2.42,0.00,0.000,6,0.000,0.044,3280,2232,2711
$GC,1822,1.63,186.7,13.8,15.3,305,1829,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,2232,2711
$GC,1897,1.71,252.2,5.6,5.2,318,1958,0.00,2.53,51.17,0.562,4,0.000,0.090,3280,3640,2446
$STATE,2046,end climb,NO_VERTICAL_VELOCITY
$STATE,2046,begin surface
$SM_CCo,2049,334.88,0.536,5,1,742,670.16
$SM_CCo,2411,50.47,0.497,2,0,499,729.77
$SM_GC,1.17,12.45,0.00,0.00,0.048,0.000,0.000,428,2234,496,-11.43,0.00,730.75
$IRIDIUM_FIX,4748.51,-12219.12,080597,131336
$TT8_MAMPS,0.026078
$HUMID,1154
$INTERNAL_PRESSURE,10.8175
$TCM_TEMP,12.40
$XPDR_PINGS,248
$24V_AH,23.7,2.454
$10V_AH,10.1,1.708
$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,27.800,29.425,292.850,385.350,0.000,48.249,79.547,377.249,62.750,0.000,0.000,15.863,519.159,391.209,712.449,1048.359,586.404,33.317,1165.716,0.000,1056.397,0.000,5.546
$DEVICE_MAMPS,180.245,89.739,658.853,536.133,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,233.310,157.689,229.415,387.082,816.245,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28746,342
$CAP_FILE_SIZE,44555,9
$CFSIZE,260165632,257277952
$ERRORS,0,0,0,0,0,0,0,0,0,0,1,0,6,7,0
$GPS,120208,141334,4806.060,-12222.110,6,2.2,25,18.3