version: 66.02
glider: 118
mission: 6
dive: 219
start: 9 28 107 21 31 25
data:
$ID,118
$MISSION,6
$DIVE,219
$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,-17163.871
$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,39
$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
$GPS1,212209,4739.384,-12252.636,9,1.9,9,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-61.8
$GPS2,213108,4739.404,-12252.647,16,1.4,16,18.3
$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,51.0,328,-26.0,-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,26,-2.65,-37.9,0.0,0.0,0,88,0.00,0.00,-60.60,0.000,2,0.000,0.000,424,2509,3093
$GC,92,-2.68,-61.1,2.1,-3.9,10,124,11.20,2.55,-11.40,0.000,4,0.164,0.059,2411,1110,3480
$GC,374,-2.68,-61.1,26.8,-8.5,47,382,0.00,2.42,0.00,0.000,6,0.000,0.032,2410,2487,3483
$GC,571,-2.68,-61.1,42.7,-8.9,63,575,0.00,2.45,0.00,0.000,4,0.000,0.045,2410,1107,3485
$GC,622,-2.68,-61.1,47.4,-9.2,66,629,0.00,2.45,0.00,0.000,6,0.000,0.032,2410,2507,3484
$GC,819,-2.68,-61.1,64.7,-8.9,82,825,0.00,2.58,0.00,0.000,4,0.000,0.067,2410,3893,3484
$GC,897,-2.68,-61.1,72.7,-10.2,88,901,0.00,2.38,0.00,0.000,6,0.000,0.031,2411,2492,3484
$STATE,1077,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1078,begin apogee
$GC,1084,-0.50,0.0,90.6,9.9,102,1141,2.42,0.00,47.47,0.599,6,0.109,0.000,2882,2404,3229
$STATE,1142,end apogee,CONTROL_FINISHED_OK
$STATE,1142,begin climb
$GC,1145,2.68,61.1,92.5,0.0,107,1200,3.20,2.50,46.08,0.588,4,0.059,0.049,3586,1028,2978
$GC,1345,2.68,61.1,72.4,13.0,122,1349,0.00,2.42,0.00,0.000,6,0.000,0.034,3586,2421,2977
$GC,1540,2.68,61.1,50.7,11.0,137,1541,0.00,0.00,0.00,0.000,6,0.000,0.000,3586,2420,2976
$GC,1732,2.68,61.1,30.1,10.6,152,1736,0.00,2.50,0.00,0.000,4,0.000,0.050,3586,1028,2976
$GC,1831,2.68,61.1,18.4,11.7,160,1837,0.00,2.40,0.00,0.000,6,0.000,0.034,3586,2415,2976
$GC,1903,2.68,61.1,11.0,10.3,171,1909,0.00,2.47,0.00,0.000,4,0.000,0.051,3586,1035,2976
$GC,1982,2.68,66.0,4.9,6.1,183,1995,0.00,2.40,3.05,0.624,6,0.000,0.040,3586,2426,2959
$GC,2062,2.76,125.9,3.5,-0.4,195,2112,0.00,2.60,43.22,0.545,4,0.000,0.067,3586,3816,2714
$STATE,2138,end climb,SURFACE_DEPTH_REACHED
$STATE,2138,begin surface coast
$FINISH,0.2,1.026274
$STATE,2196,end surface coast,CONTROL_FINISHED_OK
$STATE,2196,begin surface
$SM_CCo,2227,131.48,0.517,0,0,1597,400.08
$SM_GC,0.82,0.00,0.00,131.48,0.000,0.000,0.517,425,2490,1597,-11.84,-0.28,400.08
$IRIDIUM_FIX,4719.74,-12251.79,290907,010119
$TT8_MAMPS,0.068263
$HUMID,1799
$INTERNAL_PRESSURE,9.35929
$TCM_TEMP,19.90
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,80.8,52.3
$24V_AH,24.1,17.320
$10V_AH,10.1,12.259
$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,30.900,34.525,139.825,131.475,0.000,79.826,117.844,142.275,2.750,20.760,2946.240,16.557,412.331,1210.475,364.877,412.336,509.878,0.000,619.124,0.000,409.628,0.000,8.632
$DEVICE_MAMPS,164.138,68.263,623.571,516.958,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,148.866,0.000,0.000,0.000,0.000,0.000,0.000,2967.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6469,216
$CFSIZE,260034560,250851328
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,221208,4739.443,-12252.550,39,0.8,39,18.3