version: 66.04
glider: 126
mission: 10
dive: 76
start: 2 21 109 17 40 10
data:
$ID,126
$MISSION,10
$DIVE,76
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,100
$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,360
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-10
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52104
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0019
$HD_B,0.0147
$HD_C,2.9700001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-635173.69
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,94
$PITCH_MAX,4004
$C_PITCH,2980
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,291
$ROLL_MAX,3944
$ROLL_DEG,40
$C_ROLL_DIVE,2541
$C_ROLL_CLIMB,2541
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,539
$VBD_MAX,3901
$C_VBD,3012
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,480
$PITCH_VBD_SHIFT,0.00167
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-31.815109
$PRESSURE_SLOPE,0.000116483
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,200
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,35
$DEVICE3,53
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,38
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043561817
$SEABIRD_T_H,0.00064469897
$SEABIRD_T_I,2.5245408e-05
$SEABIRD_T_J,2.6212149e-06
$SEABIRD_C_G,-10.205203
$SEABIRD_C_H,1.1700729
$SEABIRD_C_I,-0.0038474144
$SEABIRD_C_J,0.00031547638
$GPS1,173336,1114.666,12155.851,30,1.2,30,-0.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-69.8
$GPS2,173925,1114.765,12155.799,14,1.2,14,-0.5
$SPEED_LIMITS,0.159,0.169
$TGT_NAME,ONTGOL
$TGT_LATLONG,1110.000,12155.360
$TGT_RADIUS,1000.000
$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,170.0,8861,-19.2,-9.167
$D_GRID,276
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.57,-122.9,0.0,0.0,0,79,0.00,0.00,-59.10,0.000,2,0.000,0.000,76,2560,2765
$GC,82,-1.61,-146.1,3.7,-6.9,9,116,9.40,2.17,-14.95,0.000,4,0.227,0.057,2626,1131,3612
$GC,276,-1.26,-146.1,47.6,-22.0,42,284,0.28,2.12,0.00,0.000,6,0.156,0.043,2709,2557,3614
$GC,624,-1.26,-146.1,103.0,-13.9,103,630,0.00,2.08,0.00,0.000,4,0.000,0.056,2709,3941,3614
$GC,699,-1.26,-146.1,113.1,-12.3,116,706,0.00,2.03,0.00,0.000,6,0.000,0.035,2710,2552,3615
$GC,1042,-1.38,-146.1,148.8,-11.0,177,1048,0.12,0.00,0.00,0.000,6,0.071,0.000,2645,2551,3616
$GC,1386,-1.38,-146.1,190.0,-12.0,238,1393,0.12,2.10,0.00,0.000,4,0.150,0.054,2681,3947,3616
$GC,1588,-1.46,-146.1,210.8,-10.0,273,1594,0.00,1.95,0.00,0.000,6,0.000,0.035,2681,2576,3616
$GC,1933,-1.55,-146.1,242.8,-10.5,334,1940,0.12,2.05,0.00,0.000,4,0.071,0.054,2608,3934,3616
$GC,1964,-1.49,-146.1,246.6,-12.4,339,1971,0.17,1.90,0.00,0.000,6,0.146,0.035,2662,2598,3616
$STATE,2241,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2241,begin apogee
$GC,2248,-0.36,0.0,276.6,9.4,367,2358,0.68,0.00,107.00,0.856,6,0.122,0.000,2899,2598,3012
$STATE,2359,end apogee,CONTROL_FINISHED_OK
$STATE,2359,begin climb
$GC,2362,1.61,146.1,280.6,0.0,378,2477,1.17,2.30,107.03,0.841,4,0.066,0.044,3347,1148,2416
$GC,2576,1.25,146.1,266.9,13.0,397,2581,0.32,2.15,0.00,0.000,6,0.170,0.042,3247,2559,2412
$GC,2910,1.19,146.1,231.9,10.0,442,2916,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,2558,2409
$GC,3255,1.19,173.9,202.7,7.4,503,3281,0.00,2.20,21.05,0.765,4,0.000,0.045,3256,1142,2303
$GC,3321,1.20,185.7,197.3,8.4,514,3341,0.00,2.12,10.88,0.705,6,0.000,0.044,3256,2548,2253
$GC,3682,1.23,201.5,166.2,8.2,577,3701,0.00,2.12,12.98,0.708,4,0.000,0.056,3256,3938,2189
$GC,3866,1.19,212.0,149.8,8.5,609,3881,0.12,1.92,9.60,0.666,6,0.166,0.036,3231,2616,2147
$GC,4225,1.39,243.8,122.3,7.2,671,4257,0.17,2.22,25.25,0.728,4,0.066,0.044,3320,1138,2017
$GC,4511,1.45,275.5,101.7,7.2,721,4543,0.10,2.12,25.30,0.710,6,0.158,0.044,3293,2555,1888
$GC,4886,1.65,313.9,75.7,6.8,786,4924,0.15,2.17,29.73,0.693,4,0.069,0.046,3370,1152,1732
$GC,5178,1.65,313.9,47.5,9.9,837,5185,0.12,2.08,0.00,0.000,6,0.162,0.043,3334,2536,1729
$GC,5523,1.84,347.1,18.4,7.1,898,5545,0.15,2.15,16.27,0.665,4,0.067,0.045,3412,1144,1596
$STATE,5689,end climb,SURFACE_DEPTH_REACHED
$STATE,5690,begin surface coast
$FINISH,0.5,1.009913
$STATE,5713,end surface coast,CONTROL_FINISHED_OK
$STATE,5713,begin surface
$SM_CCo,5735,71.70,0.597,0,0,972,500.17
$SM_GC,1.34,0.00,0.00,71.70,0.000,0.000,0.597,81,2542,972,-13.34,0.00,500.17
$IRIDIUM_FIX,1112.86,12155.90,180598,161623
$TT8_MAMPS,0.025311
$HUMID,1765
$INTERNAL_PRESSURE,9.78553
$TCM_TEMP,23.10
$XPDR_PINGS,104
$24V_AH,24.6,11.384
$10V_AH,10.8,9.504
$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,Compass2
$DEVICE_SECS,21.825,42.100,365.075,71.700,0.000,22.236,40.552,172.119,27.000,0.000,0.000,14.993,1525.008,2165.185,491.838,1573.376,430.260,0.000,1215.812,0.000,1565.584,0.000,7.674,0.000
$DEVICE_MAMPS,227.032,56.758,855.972,596.726,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,AQUADOPP,nil
$SENSOR_SECS,629.060,663.761,476.955,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,71.000,0.000
$DATA_FILE_SIZE,53695,931
$CAP_FILE_SIZE,75258,0
$CFSIZE,260165632,250056704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.066,337.7,1
$GPS,210209,191804,1114.363,12155.558,9,2.9,28,-0.5