version: 66.02
glider: 118
mission: 6
dive: 153
start: 9 26 107 11 51 39
data:
$ID,118
$MISSION,6
$DIVE,153
$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,-17243.385
$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,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
$GPS1,114503,4739.385,-12252.087,12,1.8,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-62.8
$GPS2,115121,4739.407,-12252.064,12,1.8,12,18.3
$SPEED_LIMITS,0.154,0.231
$TGT_NAME,T4
$TGT_LATLONG,4740.500,-12249.000
$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,43.8,4324,-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,-48.70,0.000,2,0.000,0.000,426,2511,2838
$GC,80,-1.96,-122.2,2.1,-4.3,8,129,12.20,2.60,-29.90,0.000,4,0.159,0.081,2570,3898,3730
$GC,381,-1.96,-122.2,28.5,-9.2,48,385,0.00,2.40,0.00,0.000,6,0.000,0.031,2570,2487,3732
$GC,576,-1.96,-122.2,45.7,-8.9,63,581,0.00,2.62,0.00,0.000,4,0.000,0.064,2570,3894,3733
$GC,654,-1.96,-122.2,53.5,-9.9,68,661,0.00,2.40,0.00,0.000,6,0.000,0.031,2570,2495,3733
$GC,850,-1.96,-122.2,72.0,-9.0,84,855,0.00,2.60,0.00,0.000,4,0.000,0.065,2570,3901,3734
$GC,949,-1.96,-122.2,81.4,-9.3,91,953,0.00,2.38,0.00,0.000,6,0.000,0.032,2570,2505,3734
$GC,1145,-1.96,-122.2,98.7,-9.3,106,1146,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2499,3734
$GC,1335,-1.96,-122.2,115.5,-8.8,121,1340,0.00,2.60,0.00,0.000,4,0.000,0.064,2570,3901,3735
$STATE,1384,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1384,begin apogee
$GC,1393,-0.50,0.0,120.4,9.3,124,1495,1.55,0.00,95.40,0.610,6,0.093,0.000,2886,2408,3229
$STATE,1496,end apogee,CONTROL_FINISHED_OK
$STATE,1496,begin climb
$GC,1499,1.96,122.2,122.3,0.0,133,1600,2.50,2.53,92.57,0.591,4,0.060,0.052,3425,1029,2729
$GC,1706,1.96,122.2,101.3,13.1,149,1713,0.00,2.45,0.00,0.000,6,0.000,0.032,3426,2418,2729
$GC,1903,1.96,122.2,76.9,12.7,165,1904,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2418,2728
$GC,2094,1.96,122.2,53.6,12.3,180,2098,0.00,2.53,0.00,0.000,4,0.000,0.051,3426,1023,2728
$GC,2179,1.96,122.2,42.4,12.9,186,2183,0.00,2.42,0.00,0.000,6,0.000,0.033,3425,2419,2728
$GC,2374,1.96,122.2,18.3,12.5,201,2381,0.00,2.53,0.00,0.000,4,0.000,0.051,3425,1028,2728
$GC,2440,1.96,122.2,10.2,12.5,211,2446,0.00,2.40,0.00,0.000,6,0.000,0.033,3426,2415,2728
$GC,2512,2.06,198.9,3.9,5.1,222,2557,0.10,0.00,41.55,0.538,2,0.063,0.000,3452,2416,2453
$STATE,2558,end climb,SURFACE_DEPTH_REACHED
$STATE,2558,begin surface coast
$FINISH,0.4,1.025164
$STATE,2596,end surface coast,CONTROL_FINISHED_OK
$STATE,2596,begin surface
$SM_CCo,2623,104.72,0.515,0,0,1597,400.08
$SM_GC,0.96,0.00,0.00,104.72,0.000,0.000,0.515,424,2508,1597,-11.85,0.23,400.08
$IRIDIUM_FIX,4719.74,-12254.47,260907,141402
$TT8_MAMPS,0.068263
$HUMID,1807
$INTERNAL_PRESSURE,9.34952
$TCM_TEMP,19.90
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,90.9,51.8
$24V_AH,23.6,11.838
$10V_AH,10.1,7.848
$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,29.875,35.200,229.525,104.725,0.000,38.197,38.658,169.975,1.750,123.700,3091.300,13.006,441.051,1401.207,406.579,451.203,418.994,0.000,693.394,0.000,454.382,0.000,8.569
$DEVICE_MAMPS,158.769,81.302,609.765,515.424,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,162.315,0.000,0.000,0.000,0.000,0.000,0.000,3215.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6452,235
$CFSIZE,260034560,252817408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,123823,4739.477,-12251.596,12,2.2,31,18.3