version: 66.02
glider: 118
mission: 6
dive: 147
start: 9 26 107 6 40 14
data:
$ID,118
$MISSION,6
$DIVE,147
$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,-17258.119
$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,49
$R_STBD_OVSHOOT,28
$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
$GPS1,063415,4739.417,-12252.469,13,1.3,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-63.3
$GPS2,063956,4739.420,-12252.473,15,1.3,15,18.3
$SPEED_LIMITS,0.154,0.231
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$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,257.1,914,-18.1,-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,-1.96,-122.2,0.0,0.0,0,76,0.00,0.00,-48.83,0.000,2,0.000,0.000,428,2505,2834
$GC,80,-1.96,-122.2,2.0,-4.1,8,130,11.98,2.60,-31.70,0.000,4,0.159,0.081,2566,3902,3730
$GC,209,-1.96,-122.2,12.2,-10.9,28,215,0.00,2.40,0.00,0.000,6,0.000,0.031,2566,2493,3731
$GC,281,-1.96,-122.2,18.6,-8.1,39,288,0.00,2.60,0.00,0.000,4,0.000,0.064,2566,3895,3731
$GC,427,-1.96,-122.2,31.7,-8.6,52,431,0.00,2.40,0.00,0.000,6,0.000,0.031,2565,2488,3732
$GC,623,-1.96,-122.2,49.0,-8.8,67,624,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2483,3733
$GC,814,-1.96,-122.2,65.0,-8.3,82,819,0.00,2.67,0.00,0.000,4,0.000,0.065,2566,3899,3733
$GC,898,-1.96,-122.2,73.0,-9.0,88,907,0.00,2.40,0.00,0.000,6,0.000,0.031,2566,2501,3733
$GC,1095,-1.96,-122.2,89.9,-8.7,104,1106,0.00,2.60,0.00,0.000,4,0.000,0.065,2566,3904,3732
$GC,1193,-1.96,-122.2,98.5,-8.4,111,1198,0.00,2.42,0.00,0.000,6,0.000,0.032,2566,2502,3733
$GC,1396,-1.96,-122.2,113.9,-7.3,127,1400,0.00,2.45,0.00,0.000,4,0.000,0.048,2566,1115,3732
$GC,1428,-1.96,-122.2,116.5,-8.3,129,1432,0.00,2.42,0.00,0.000,6,0.000,0.032,2566,2507,3732
$STATE,1470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1470,begin apogee
$GC,1476,-0.50,0.0,120.3,8.6,132,1575,1.60,0.00,94.75,0.611,6,0.091,0.000,2890,2417,3229
$STATE,1576,end apogee,CONTROL_FINISHED_OK
$STATE,1576,begin climb
$GC,1579,1.96,122.2,122.9,0.0,140,1680,2.47,2.58,92.43,0.589,4,0.061,0.050,3423,1012,2729
$GC,1701,1.96,122.2,112.9,12.3,150,1706,0.00,2.45,0.00,0.000,6,0.000,0.033,3423,2417,2729
$GC,1897,1.96,122.2,88.3,12.9,165,1902,0.00,2.60,0.00,0.000,4,0.000,0.050,3423,1040,2728
$GC,2034,1.96,122.2,70.5,12.6,175,2041,0.00,2.42,0.00,0.000,6,0.000,0.031,3424,2417,2727
$GC,2231,1.96,122.2,46.1,12.5,191,2235,0.00,2.50,0.00,0.000,4,0.000,0.050,3423,1030,2727
$GC,2290,1.96,122.2,38.8,12.8,195,2294,0.00,2.42,0.00,0.000,6,0.000,0.032,3424,2424,2727
$GC,2487,1.96,122.2,15.3,10.8,213,2494,0.00,2.53,0.00,0.000,4,0.000,0.051,3424,1024,2727
$GC,2506,1.96,122.2,13.2,10.7,216,2513,0.00,2.42,0.00,0.000,6,0.000,0.032,3423,2417,2728
$GC,2579,1.96,122.2,5.7,10.1,227,2584,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2417,2727
$GC,2652,2.12,252.4,2.4,2.5,238,2671,0.15,0.00,16.83,0.552,2,0.055,0.000,3466,2417,2609
$STATE,2672,end climb,SURFACE_DEPTH_REACHED
$STATE,2672,begin surface coast
$FINISH,0.2,1.024781
$STATE,2777,end surface coast,CONTROL_FINISHED_OK
$STATE,2777,begin surface
$SM_CCo,2806,122.18,0.518,0,0,1597,400.08
$SM_GC,0.91,0.00,0.00,122.18,0.000,0.000,0.518,426,2510,1597,-11.84,0.28,400.08
$IRIDIUM_FIX,4722.92,-12253.53,260907,090944
$TT8_MAMPS,0.068263
$HUMID,1793
$INTERNAL_PRESSURE,9.38859
$TCM_TEMP,20.00
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,90.3,48.2
$24V_AH,23.5,11.213
$10V_AH,10.1,7.457
$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,29.850,45.175,204.000,122.175,0.000,38.572,32.236,139.703,2.250,134.620,3252.380,15.810,491.090,1481.566,415.554,492.493,402.085,0.000,734.366,0.000,494.629,0.000,8.576
$DEVICE_MAMPS,158.769,80.535,610.532,518.492,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,177.407,0.000,0.000,0.000,0.000,0.000,0.000,3387.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6459,257
$CFSIZE,260034560,252993536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,072957,4739.409,-12252.951,11,1.2,11,18.3