version: 66.04
glider: 126
mission: 10
dive: 95
start: 2 23 109 6 52 27
data:
$ID,126
$MISSION,10
$DIVE,95
$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,300
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,993
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$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,-635548.31
$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,49
$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,30
$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
$GPS1,064630,1112.706,12152.464,35,1.4,41,-0.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-70.8
$GPS2,065202,1112.818,12152.438,17,1.3,17,-0.5
$SPEED_LIMITS,0.191,0.210
$TGT_NAME,ONTGOL
$TGT_LATLONG,1110.000,12153.360
$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,185.1,5480,-19.1,-11.000
$D_GRID,990
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.65,-170.4,0.0,0.0,0,75,0.00,0.00,-57.80,0.000,2,0.000,0.000,76,2563,2689
$GC,79,-1.65,-170.4,3.2,-7.2,9,113,9.30,2.17,-19.50,0.000,4,0.222,0.067,2614,3947,3709
$GC,368,-1.26,-170.4,69.8,-21.2,59,376,0.30,2.05,0.00,0.000,6,0.149,0.033,2706,2527,3712
$GC,714,-1.26,-170.4,119.4,-13.4,120,721,0.00,2.12,0.00,0.000,4,0.000,0.054,2698,3934,3714
$GC,744,-1.26,-170.4,123.6,-14.0,125,751,0.00,2.03,0.00,0.000,6,0.000,0.035,2697,2530,3715
$GC,1089,-1.32,-170.4,163.5,-10.8,186,1096,0.00,2.12,0.00,0.000,4,0.000,0.055,2694,3934,3716
$GC,1188,-1.39,-170.4,174.6,-11.3,203,1195,0.00,1.95,0.00,0.000,6,0.000,0.034,2694,2574,3716
$GC,1535,-1.49,-170.4,211.9,-10.9,264,1541,0.12,2.08,0.00,0.000,4,0.071,0.054,2620,3949,3716
$GC,1571,-1.34,-170.4,216.3,-12.5,270,1578,0.22,1.95,0.00,0.000,6,0.141,0.035,2693,2585,3716
$STATE,1736,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1736,begin apogee
$GC,1742,-0.36,0.0,233.8,10.6,299,1869,0.60,0.00,122.95,0.792,6,0.123,0.000,2903,2585,3012
$STATE,1870,end apogee,CONTROL_FINISHED_OK
$STATE,1870,begin climb
$GC,1873,1.65,170.4,240.0,0.0,320,2006,1.20,2.25,123.68,0.779,4,0.073,0.044,3350,1148,2317
$GC,2132,1.44,188.1,223.9,10.1,364,2152,0.20,2.12,14.10,0.699,6,0.180,0.042,3289,2541,2244
$GC,2493,1.42,227.1,188.0,9.0,427,2527,0.00,2.22,29.08,0.732,4,0.000,0.055,3288,3944,2086
$GC,2568,1.28,227.1,180.1,11.5,439,2576,0.15,2.08,0.00,0.000,6,0.169,0.035,3258,2535,2083
$GC,2915,1.43,270.9,149.3,8.7,500,2954,0.12,2.25,32.97,0.717,4,0.079,0.055,3307,3939,1905
$GC,2967,1.37,275.9,144.0,10.7,508,2980,0.15,2.05,4.72,0.492,6,0.173,0.036,3278,2557,1887
$GC,3321,1.61,333.0,111.9,8.0,570,3372,0.17,2.17,42.92,0.701,4,0.066,0.046,3363,1130,1653
$GC,3626,1.63,346.3,80.7,10.3,623,3646,0.12,2.12,10.82,0.622,6,0.160,0.043,3330,2540,1600
$GC,3986,1.82,388.1,47.9,8.8,686,4025,0.15,2.12,31.50,0.651,4,0.071,0.044,3408,1139,1427
$GC,4240,1.82,388.7,18.1,11.0,730,4247,0.12,2.08,0.00,0.000,6,0.163,0.042,3375,2519,1425
$STATE,4412,end climb,SURFACE_DEPTH_REACHED
$STATE,4412,begin surface coast
$FINISH,0.5,1.010583
$STATE,4434,end surface coast,CONTROL_FINISHED_OK
$STATE,4434,begin surface
$SM_CCo,4454,52.42,0.591,0,0,973,500.17
$SM_GC,1.44,0.00,0.00,52.42,0.000,0.000,0.591,73,2521,973,-13.37,-0.54,500.17
$IRIDIUM_FIX,1110.66,12151.71,200598,050525
$TT8_MAMPS,0.025311
$HUMID,1772
$INTERNAL_PRESSURE,9.81483
$TCM_TEMP,24.50
$XPDR_PINGS,47
$ALTIM_BOTTOM_PING,200.2,63.2
$24V_AH,24.6,13.562
$10V_AH,10.8,10.936
$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,21.500,37.950,412.750,52.425,0.000,25.587,34.975,154.578,12.250,0.000,0.000,17.077,1176.919,1515.387,487.290,1283.033,386.063,0.000,1109.917,0.000,1277.290,0.000,5.590,0.000
$DEVICE_MAMPS,222.430,67.496,792.311,590.590,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,AQUADOPP,nil
$SENSOR_SECS,514.082,588.074,391.649,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,71.000,0.000
$DATA_FILE_SIZE,44400,764
$CAP_FILE_SIZE,64077,0
$CFSIZE,260165632,249090048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.196, 14.8,1
$GPS,230209,080826,1112.781,12152.271,14,1.9,14,-0.5