version: 66.02
glider: 118
mission: 6
dive: 176
start: 9 27 107 8 14 15
data:
$ID,118
$MISSION,6
$DIVE,176
$D_SURF,2
$D_FLARE,2
$D_TGT,90
$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,-17149.045
$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,38
$R_STBD_OVSHOOT,33
$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
$GPS1,080814,4739.386,-12252.886,13,1.8,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-62.4
$GPS2,081357,4739.392,-12252.900,13,1.3,13,18.3
$SPEED_LIMITS,0.115,0.209
$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,59.1,638,-13.9,-6.667
$D_GRID,90
$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,-1.54,-122.2,0.0,0.0,0,82,0.00,0.00,-54.80,0.000,2,0.000,0.000,425,2512,2961
$GC,86,-1.54,-122.2,2.1,-3.3,9,136,12.38,2.60,-28.60,0.000,4,0.155,0.081,2656,3891,3729
$GC,387,-1.54,-122.2,21.7,-6.6,54,391,0.00,2.38,0.00,0.000,6,0.000,0.031,2656,2491,3733
$GC,583,-1.54,-122.2,33.3,-6.3,69,588,0.00,2.62,0.00,0.000,4,0.000,0.064,2656,3897,3734
$GC,727,-1.54,-122.2,43.0,-6.2,79,735,0.00,2.40,0.00,0.000,6,0.000,0.032,2656,2497,3734
$GC,924,-1.54,-122.2,55.1,-6.4,95,928,0.00,2.58,0.00,0.000,4,0.000,0.065,2656,3892,3734
$GC,983,-1.54,-122.2,59.0,-6.8,99,987,0.00,2.38,0.00,0.000,6,0.000,0.033,2656,2497,3734
$GC,1178,-1.54,-122.2,71.0,-6.5,114,1183,0.00,2.58,0.00,0.000,4,0.000,0.065,2656,3891,3734
$GC,1243,-1.54,-122.2,75.6,-7.3,118,1251,0.00,2.38,0.00,0.000,6,0.000,0.033,2656,2498,3734
$GC,1439,-1.54,-122.2,89.4,-7.4,134,1443,0.00,2.58,0.00,0.000,4,0.000,0.065,2656,3900,3734
$STATE,1452,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1452,begin apogee
$GC,1461,-0.50,0.0,90.4,7.3,134,1563,1.12,0.00,94.70,0.594,6,0.094,0.000,2885,2416,3229
$STATE,1564,end apogee,CONTROL_FINISHED_OK
$STATE,1564,begin climb
$GC,1567,1.54,122.2,93.8,0.0,143,1668,2.08,2.58,92.47,0.574,4,0.062,0.051,3334,1030,2729
$GC,1722,1.54,122.2,84.7,8.8,155,1729,0.00,2.42,0.00,0.000,6,0.000,0.033,3334,2403,2728
$GC,1918,1.54,122.2,66.1,10.0,171,1919,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2403,2728
$GC,2109,1.54,122.2,49.0,8.9,186,2110,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2403,2728
$GC,2301,1.54,122.2,31.8,9.0,201,2302,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2403,2728
$GC,2488,1.54,122.2,14.5,8.8,220,2494,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2403,2728
$GC,2561,1.54,122.2,8.9,7.3,231,2566,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2403,2728
$GC,2633,1.56,141.0,4.2,6.0,242,2652,0.00,2.50,13.38,0.565,4,0.000,0.050,3334,1031,2653
$STATE,2669,end climb,SURFACE_DEPTH_REACHED
$STATE,2669,begin surface coast
$FINISH,0.7,1.025900
$STATE,2704,end surface coast,CONTROL_FINISHED_OK
$STATE,2704,begin surface
$SM_CCo,2733,121.65,0.517,0,0,1597,400.08
$SM_GC,0.86,0.00,0.00,121.65,0.000,0.000,0.517,428,2513,1597,-11.83,0.37,400.08
$IRIDIUM_FIX,4719.74,-12254.47,270907,111111
$TT8_MAMPS,0.068263
$HUMID,1807
$INTERNAL_PRESSURE,9.33976
$TCM_TEMP,17.90
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,90.4,48.3
$24V_AH,24.0,14.106
$10V_AH,10.1,9.407
$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,28.725,35.175,200.550,121.650,0.000,37.124,39.380,136.211,2.500,41.251,3244.749,13.092,471.120,1474.106,412.832,457.488,394.404,0.000,703.405,0.000,467.245,0.000,10.153
$DEVICE_MAMPS,154.934,81.302,593.658,516.958,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,174.660,0.000,0.000,0.000,0.000,0.000,0.000,3286.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6460,253
$CFSIZE,260034560,252116992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,090305,4739.285,-12252.599,11,2.1,30,18.3