version: 66.02
glider: 118
mission: 6
dive: 253
start: 9 30 107 1 39 34
data:
$ID,118
$MISSION,6
$DIVE,253
$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,-17128.26
$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,36
$R_STBD_OVSHOOT,30
$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
$GPS1,013325,4739.551,-12252.776,28,1.9,46,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-57.7
$GPS2,013916,4739.616,-12252.687,15,1.5,16,18.3
$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,109.5,450,-18.5,-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,-1.94,-73.1,0.0,0.0,0,95,0.00,0.00,-67.25,0.000,2,0.000,0.000,428,2508,3227
$GC,98,-1.99,-116.6,2.2,-4.0,11,135,11.93,2.65,-14.93,0.000,4,0.158,0.081,2564,3901,3707
$GC,378,-1.99,-116.6,25.7,-9.8,50,386,0.00,2.42,0.00,0.000,6,0.000,0.032,2563,2488,3709
$GC,576,-1.99,-116.6,43.7,-9.5,66,580,0.00,2.60,0.00,0.000,4,0.000,0.066,2564,3893,3710
$GC,648,-1.99,-116.6,51.0,-10.2,71,652,0.00,2.38,0.00,0.000,6,0.000,0.033,2564,2495,3710
$GC,843,-1.99,-116.6,69.9,-9.3,86,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2491,3710
$GC,1032,-1.99,-116.6,86.0,-8.4,101,1037,0.00,2.62,0.00,0.000,4,0.000,0.066,2564,3895,3710
$STATE,1080,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1080,begin apogee
$GC,1089,-0.50,0.0,90.2,9.2,104,1183,1.60,0.00,89.82,0.596,6,0.104,0.000,2891,2416,3229
$STATE,1184,end apogee,CONTROL_FINISHED_OK
$STATE,1184,begin climb
$GC,1187,1.99,116.6,92.9,0.0,112,1285,2.50,2.53,87.85,0.578,4,0.063,0.051,3432,1023,2751
$GC,1366,1.99,116.6,75.7,13.3,126,1371,0.00,2.42,0.00,0.000,6,0.000,0.033,3432,2417,2751
$GC,1562,1.99,116.6,51.2,12.7,141,1563,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,2416,2750
$GC,1753,1.99,116.6,27.3,12.1,156,1757,0.00,2.50,0.00,0.000,4,0.000,0.051,3432,1026,2750
$GC,1839,1.99,116.6,16.9,12.2,164,1845,0.00,2.40,0.00,0.000,6,0.000,0.034,3431,2414,2750
$GC,1911,1.99,116.6,8.4,12.0,175,1917,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,2414,2750
$GC,1983,1.99,116.6,2.3,6.8,186,1989,0.00,2.55,0.00,0.000,4,0.000,0.067,3432,3812,2750
$STATE,1993,end climb,SURFACE_DEPTH_REACHED
$STATE,1993,begin surface coast
$FINISH,0.4,1.027548
$STATE,2034,end surface coast,CONTROL_FINISHED_OK
$STATE,2034,begin surface
$SM_CCo,2065,139.23,0.522,1,0,1597,400.08
$SM_GC,0.66,0.00,0.00,139.23,0.000,0.000,0.522,427,2482,1597,-11.84,-0.54,400.08
$IRIDIUM_FIX,4722.92,-12251.79,300907,040446
$TT8_MAMPS,0.067496
$HUMID,1788
$INTERNAL_PRESSURE,9.32999
$TCM_TEMP,19.90
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,90.2,43.5
$24V_AH,24.1,19.697
$10V_AH,10.1,14.422
$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,29.475,29.925,177.675,139.225,0.000,41.038,35.569,135.947,4.000,4.160,2653.840,16.706,372.859,1045.517,408.407,371.243,375.214,0.000,645.755,0.000,366.477,0.000,10.131
$DEVICE_MAMPS,158.002,80.535,595.959,521.560,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,134.178,0.000,0.000,0.000,0.000,0.000,0.000,2658.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6437,194
$CFSIZE,260034560,249843712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300907,021741,4739.540,-12252.409,12,2.3,31,18.3