version: 66.02
glider: 118
mission: 6
dive: 134
start: 9 25 107 19 41 50
data:
$ID,118
$MISSION,6
$DIVE,134
$D_SURF,2
$D_FLARE,2
$D_TGT,120
$D_ABORT,1050
$D_NO_BLEED,200
$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,45
$T_MISSION,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,125
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51630
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.650002
$TGT_DEFAULT_LON,-122.8667
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-17300.732
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,428
$PITCH_MAX,3730
$C_PITCH,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,10
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,311
$ROLL_MAX,3943
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2415
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,17
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,540
$VBD_MAX,3800
$C_VBD,3229
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-6.9690108
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,25
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,70
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.4
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,2
$SMARTDEVICE1,5
$SMARTDEVICE2,19
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,16
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043805656
$SEABIRD_T_H,0.00064742006
$SEABIRD_T_I,2.5554549e-05
$SEABIRD_T_J,2.6681391e-06
$SEABIRD_C_G,-10.331019
$SEABIRD_C_H,1.1763502
$SEABIRD_C_I,-0.0012340198
$SEABIRD_C_J,0.00017379176
$GPS1,193537,4739.365,-12252.457,12,1.0,28,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-62.8
$GPS2,194133,4739.329,-12252.492,12,1.3,12,18.3
$SPEED_LIMITS,0.154,0.231
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$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,5.6,279,-27.7,-8.889
$D_GRID,120
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-2.84,-53.0,0.0,0.0,0,95,0.00,0.00,-67.40,0.000,2,0.000,0.000,426,2496,3307
$GC,98,-2.92,-122.2,2.1,-0.7,11,129,11.07,0.00,-12.43,0.000,6,0.164,0.000,2358,2496,3730
$GC,194,-2.92,-122.2,14.0,-12.9,26,200,0.00,2.60,0.00,0.000,4,0.000,0.066,2357,3893,3732
$GC,227,-2.92,-122.2,17.9,-12.5,31,233,0.00,2.40,0.00,0.000,6,0.000,0.030,2357,2492,3732
$GC,296,-2.92,-122.2,26.8,-13.2,38,301,0.00,2.65,0.00,0.000,4,0.000,0.063,2358,3896,3733
$GC,355,-2.92,-122.2,35.2,-14.2,42,359,0.00,2.40,0.00,0.000,6,0.000,0.030,2357,2491,3733
$GC,551,-2.92,-122.2,62.5,-14.2,57,555,0.00,2.65,0.00,0.000,4,0.000,0.062,2358,3901,3734
$GC,678,-2.92,-122.2,82.2,-16.0,66,683,0.00,2.42,0.00,0.000,6,0.000,0.031,2358,2506,3734
$GC,880,-2.92,-122.2,113.5,-15.7,82,884,0.00,2.53,0.00,0.000,4,0.000,0.048,2358,1110,3734
$GC,898,-2.92,-122.2,116.6,-15.8,83,905,0.00,2.45,0.00,0.000,6,0.000,0.031,2358,2494,3734
$STATE,928,end dive,TARGET_DEPTH_EXCEEDED
$STATE,928,begin apogee
$GC,935,-0.50,0.0,121.5,15.6,86,1040,2.75,0.00,96.15,0.604,6,0.109,0.000,2881,2408,3228
$STATE,1040,end apogee,CONTROL_FINISHED_OK
$STATE,1041,begin climb
$GC,1043,2.92,122.2,125.5,0.0,95,1143,3.45,0.00,93.22,0.586,6,0.056,0.000,3645,2409,2729
$GC,1329,2.92,122.2,81.0,19.6,118,1334,0.00,2.50,0.00,0.000,4,0.000,0.050,3645,1032,2728
$GC,1462,2.92,122.2,54.4,19.3,127,1468,0.00,2.42,0.00,0.000,6,0.000,0.031,3645,2419,2728
$GC,1657,2.92,122.2,17.1,18.3,144,1664,0.00,2.53,0.00,0.000,4,0.000,0.050,3645,1034,2728
$GC,1723,2.92,122.2,4.5,17.6,154,1729,0.00,2.40,0.00,0.000,6,0.000,0.031,3645,2418,2728
$STATE,1740,end climb,SURFACE_DEPTH_REACHED
$STATE,1740,begin surface coast
$FINISH,0.3,1.025465
$STATE,1754,end surface coast,CONTROL_FINISHED_OK
$STATE,1755,begin surface
$SM_CCo,1784,137.98,0.515,1,0,1598,400.08
$SM_GC,1.03,0.00,0.00,137.98,0.000,0.000,0.515,423,2510,1598,-11.85,0.28,400.08
$IRIDIUM_FIX,4722.92,-12256.21,250907,222224
$TT8_MAMPS,0.070564
$HUMID,1782
$INTERNAL_PRESSURE,9.33976
$TCM_TEMP,19.90
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,90.0,44.2
$24V_AH,23.6,9.255
$10V_AH,10.1,6.594
$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,32.000,30.225,189.375,137.975,0.000,41.244,33.413,155.198,1.500,253.380,2106.620,14.080,315.420,865.443,417.456,320.128,378.439,0.000,641.630,0.000,318.032,0.000,8.547
$DEVICE_MAMPS,164.138,65.962,603.629,515.424,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,109.687,0.000,0.000,0.000,0.000,0.000,0.000,2360.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3307,159
$CFSIZE,260034560,253440000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,250907,201451,4739.430,-12252.411,9,1.6,9,18.3