version: 66.03
glider: 151
mission: 1
dive: 7
start: 4 29 108 23 52 34
data:
$ID,151
$MISSION,1
$DIVE,7
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,250
$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,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,150
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,300
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51663
$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,-2792.5249
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,436
$PITCH_MAX,3701
$C_PITCH,2617
$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,247
$ROLL_MAX,3926
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,525
$VBD_MAX,3954
$C_VBD,3404
$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,-23.203138
$PRESSURE_SLOPE,0.0001148558
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.5
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,-1
$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,0.0043511889
$SEABIRD_T_H,0.00063513592
$SEABIRD_T_I,2.430502e-05
$SEABIRD_T_J,2.5370914e-06
$SEABIRD_C_G,-10.00406
$SEABIRD_C_H,1.1117702
$SEABIRD_C_I,-0.0010280402
$SEABIRD_C_J,0.00016666186
$GPS1,234551,4806.208,-12222.265,10,1.5,10,18.3
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-65.4
$GPS2,235139,4806.101,-12222.188,11,1.5,11,18.3
$SPEED_LIMITS,0.173,0.351
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.139,-0.103
$KALMAN_X,-226.7,-122.7,-26.8,1600.7,9.7
$KALMAN_Y,304.4,167.0,42.4,-4669.2,-25.2
$MHEAD_RNG_PITCHd_Wd,108.2,299,-27.2,-10.000
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.78,-63.1,0.0,0.0,0,79,0.00,0.00,-59.40,0.000,2,0.000,0.000,435,2281,2701
$GC,81,-1.85,-123.9,3.5,-3.5,10,131,9.73,2.70,-32.12,0.000,4,0.171,0.087,2208,3804,3912
$GC,206,-1.85,-123.9,16.5,-11.5,35,213,0.00,2.40,0.00,0.000,6,0.000,0.048,2208,2391,3912
$GC,276,-1.85,-123.9,23.9,-11.1,51,283,0.00,2.53,0.00,0.000,4,0.000,0.072,2208,3806,3913
$GC,526,-1.85,-123.9,60.1,-16.1,109,532,0.00,2.38,0.00,0.000,6,0.000,0.057,2209,2394,3913
$GC,668,-1.85,-123.9,81.7,-15.2,140,674,0.00,2.50,0.00,0.000,4,0.000,0.076,2209,3794,3913
$STATE,852,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,852,begin apogee
$GC,859,-0.31,0.0,112.5,17.1,182,964,1.65,0.00,97.47,0.800,6,0.127,0.000,2540,2351,3403
$STATE,965,end apogee,CONTROL_FINISHED_OK
$STATE,965,begin climb
$GC,966,1.85,123.9,116.1,0.0,201,1072,2.12,2.55,96.03,0.740,4,0.074,0.082,3020,949,2898
$GC,1113,1.85,123.9,97.4,19.5,229,1119,0.00,2.45,0.00,0.000,6,0.000,0.067,3020,2353,2898
$GC,1252,1.85,123.9,70.2,18.9,260,1259,0.00,2.53,0.00,0.000,4,0.000,0.083,3020,3778,2898
$GC,1281,1.85,123.9,64.1,20.5,266,1288,0.00,2.47,0.00,0.000,6,0.000,0.061,3020,2353,2897
$GC,1421,1.85,123.9,37.1,19.3,297,1428,0.00,2.53,0.00,0.000,4,0.000,0.077,3020,3771,2898
$GC,1450,1.85,123.9,31.3,19.5,303,1457,0.00,2.47,0.00,0.000,6,0.000,0.062,3020,2345,2897
$GC,1523,1.85,123.9,17.5,18.3,319,1529,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2345,2897
$GC,1593,1.85,123.9,7.1,13.2,335,1599,0.00,2.53,0.00,0.000,4,0.000,0.077,3020,3746,2897
$GC,1631,1.99,231.0,6.3,-1.4,343,1722,0.08,2.40,82.82,0.728,6,0.070,0.052,3045,2345,2462
$GC,1788,2.09,317.2,5.6,0.8,373,1861,0.12,0.00,66.95,0.688,6,0.077,0.000,3075,2345,2108
$GC,1925,2.20,401.6,4.1,1.0,400,1945,0.00,0.00,17.62,0.709,2,0.000,0.000,3075,2345,2021
$STATE,1945,end climb,SURFACE_DEPTH_REACHED
$STATE,1945,begin surface coast
$FINISH,3.7,1.016778
$STATE,2154,end surface coast,CONTROL_FINISHED_OK
$STATE,2154,begin surface
$SM_CCo,2172,167.32,0.661,3,0,1161,550.21
$SM_GC,2.23,0.00,0.00,167.32,0.000,0.000,0.661,437,2416,1161,-10.03,0.45,550.21
$IRIDIUM_FIX,4748.51,-12224.57,240797,222227
$TT8_MAMPS,0.029146
$HUMID,1499
$INTERNAL_PRESSURE,8.96325
$TCM_TEMP,15.60
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,80.3,41.8
$24V_AH,23.6,1.297
$10V_AH,10.1,0.567
$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,25.450,35.025,360.900,167.325,0.000,31.716,28.314,209.134,4.250,0.000,0.000,12.729,646.714,180.082,527.324,1029.267,335.416,33.324,1012.979,0.000,1029.211,0.000,5.954
$DEVICE_MAMPS,171.041,87.438,799.981,661.154,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,312.257,233.575,783.156,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25378,453
$CAP_FILE_SIZE,46520,0
$CFSIZE,260165632,258134016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,3,0
$GPS,300408,003605,4805.816,-12221.922,202,99.0,221,18.3