version: 66.04
glider: 150
mission: 6
dive: 7
start: 10 7 109 23 20 24
data:
$ID,150
$MISSION,6
$DIVE,7
$D_SURF,4
$D_FLARE,2
$D_TGT,150
$D_ABORT,1020
$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,60
$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,990
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0292
$MASS,52219
$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,270
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,33
$TGT_DEFAULT_LON,33
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,2
$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,-15750.837
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,430
$PITCH_MAX,3717
$C_PITCH,2501
$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,257
$ROLL_MAX,3938
$ROLL_DEG,40
$C_ROLL_DIVE,2097
$C_ROLL_CLIMB,2097
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3951
$C_VBD,3430
$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,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-6.2719669
$PRESSURE_SLOPE,0.000116226
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,150
$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,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.69999999
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,87
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004369698
$SEABIRD_T_H,0.00063770782
$SEABIRD_T_I,2.6189617e-05
$SEABIRD_T_J,2.9323592e-06
$SEABIRD_C_G,-9.9919777
$SEABIRD_C_H,1.1278584
$SEABIRD_C_I,-0.00075603358
$SEABIRD_C_J,0.00015749504
$GPS1,231338,4806.715,-12222.515,8,1.5,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-66.8
$GPS2,231931,4806.693,-12222.489,13,1.4,30,18.3
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.062,-0.226
$KALMAN_X,-260.7,-207.2,-89.0,1735.9,54.9
$KALMAN_Y,-36.1,-83.0,-63.3,-673.7,89.8
$MHEAD_RNG_PITCHd_Wd,146.5,1420,-19.8,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.38,-116.6,0.0,0.0,0,64,0.00,0.00,-46.53,0.000,2,0.000,0.000,417,2107,3152
$GC,68,-1.38,-116.6,2.0,-4.0,8,111,9.48,2.33,-25.75,0.000,4,0.160,0.056,2196,3509,3905
$GC,351,-1.38,-116.6,34.6,-13.2,72,358,0.00,2.28,0.00,0.000,6,0.000,0.032,2196,2091,3906
$GC,427,-1.38,-116.6,44.1,-12.7,85,433,0.00,2.35,0.00,0.000,4,0.000,0.042,2196,3508,3905
$GC,502,-1.38,-116.6,53.6,-11.7,101,508,0.00,2.28,0.00,0.000,6,0.000,0.034,2196,2089,3906
$GC,642,-1.38,-116.6,70.9,-12.5,126,649,0.00,2.30,0.00,0.000,4,0.000,0.051,2196,698,3906
$GC,687,-1.38,-116.6,76.6,-13.4,135,693,0.00,2.22,0.00,0.000,6,0.000,0.031,2196,2103,3905
$GC,830,-1.38,-116.6,93.7,-12.4,160,836,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2103,3905
$STATE,942,end dive,TARGET_DEPTH_EXCEEDED
$STATE,943,begin apogee
$GC,949,-0.31,0.0,107.3,12.1,180,1045,1.05,0.00,92.22,0.910,6,0.097,0.000,2426,2103,3430
$STATE,1046,end apogee,CONTROL_FINISHED_OK
$STATE,1046,begin climb
$GC,1049,1.38,116.6,110.8,0.0,197,1149,1.60,0.00,93.22,0.877,6,0.059,0.000,2798,2104,2953
$GC,1285,1.38,116.6,89.1,11.8,239,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2104,2949
$GC,1425,1.38,116.6,72.6,11.5,264,1432,0.00,2.40,0.00,0.000,4,0.000,0.059,2798,701,2948
$GC,1506,1.38,116.6,62.6,12.4,281,1513,0.00,2.25,0.00,0.000,6,0.000,0.038,2798,2088,2947
$GC,1648,1.38,116.6,45.8,11.4,306,1654,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2088,2947
$GC,1790,1.38,116.6,29.8,10.4,331,1797,0.00,2.35,0.00,0.000,4,0.000,0.056,2798,695,2947
$GC,1841,1.38,116.6,23.8,11.3,342,1848,0.00,2.25,0.00,0.000,6,0.000,0.032,2798,2100,2947
$GC,1917,1.38,120.7,16.1,9.8,355,1930,0.00,2.40,4.03,0.558,4,0.000,0.049,2798,702,2936
$GC,1945,1.38,120.7,13.1,11.4,360,1951,0.00,2.25,0.00,0.000,6,0.000,0.030,2798,2107,2936
$GC,2020,1.40,136.0,5.6,9.1,373,2040,0.00,2.45,13.85,0.817,4,0.000,0.053,2798,3506,2875
$STATE,2044,end climb,SURFACE_DEPTH_REACHED
$STATE,2044,begin surface coast
$FINISH,2.6,1.021863
$STATE,2061,end surface coast,CONTROL_FINISHED_OK
$STATE,2061,begin surface
$SM_CCo,2084,133.18,0.812,0,0,2207,300.00
$SM_GC,0.98,0.00,0.00,133.18,0.000,0.000,0.812,423,2085,2207,-9.56,-0.34,300.00
$IRIDIUM_FIX,4748.51,-12217.40,010199,222214
$TT8_MAMPS,0.027612
$HUMID,1746
$INTERNAL_PRESSURE,9.25155
$TCM_TEMP,18.60
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,105.2,18.4
$24V_AH,23.2,1.101
$10V_AH,10.1,0.789
$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,Compass2
$DEVICE_SECS,22.275,32.450,203.325,133.175,0.000,27.459,25.769,163.031,6.750,0.000,0.000,31.685,578.247,544.121,395.049,716.055,351.287,33.326,760.572,0.000,690.383,0.000,20.779,0.000
$DEVICE_MAMPS,160.303,59.059,909.662,812.253,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,259.281,183.025,452.116,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19090,381
$CAP_FILE_SIZE,41922,0
$CFSIZE,260165632,218435584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071009,235831,4806.494,-12222.457,13,1.9,30,18.3