version: 66.04
glider: 126
mission: 10
dive: 67
start: 2 21 109 2 19 29
data:
$ID,126
$MISSION,10
$DIVE,67
$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,-634943.5
$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,56
$R_STBD_OVSHOOT,33
$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
$GPS1,021231,1116.915,12156.400,11,1.5,28,-0.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-70.2
$GPS2,021846,1117.030,12156.348,12,2.3,31,-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,185.5,13143,-19.2,-9.167
$D_GRID,256
$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,-1.57,-122.9,0.0,0.0,0,77,0.00,0.00,-59.25,0.000,2,0.000,0.000,84,2551,2779
$GC,80,-1.61,-146.1,3.6,-7.3,9,109,9.40,2.17,-14.65,0.000,4,0.229,0.069,2626,3937,3612
$GC,116,-0.08,-146.1,13.7,-25.2,14,125,1.08,2.05,0.00,0.000,6,0.153,0.035,2965,2527,3614
$GC,467,-1.03,-146.1,44.3,-9.2,75,474,0.57,2.05,0.00,0.000,4,0.073,0.042,2746,1124,3615
$GC,482,-1.88,-146.1,45.9,-9.1,77,490,0.47,2.15,0.00,0.000,6,0.048,0.043,2537,2566,3615
$GC,829,-1.47,-146.1,126.2,-17.5,138,836,0.38,2.10,0.00,0.000,4,0.157,0.041,2655,1137,3615
$GC,922,-1.42,-146.1,138.8,-12.8,154,929,0.00,2.20,0.00,0.000,6,0.000,0.043,2654,2616,3616
$GC,1269,-1.42,-146.1,180.0,-11.4,215,1275,0.00,1.98,0.00,0.000,4,0.000,0.054,2646,3945,3616
$GC,1388,-1.42,-146.1,194.4,-11.3,236,1396,0.05,1.95,0.00,0.000,6,0.157,0.034,2668,2596,3617
$GC,1735,-1.48,-146.1,229.9,-11.7,297,1742,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2596,3617
$STATE,1978,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1978,begin apogee
$GC,1985,-0.36,0.0,256.4,11.4,336,2095,0.68,0.00,106.90,0.849,6,0.120,0.000,2905,2596,3011
$STATE,2096,end apogee,CONTROL_FINISHED_OK
$STATE,2096,begin climb
$GC,2099,1.61,146.1,261.1,0.0,347,2213,1.17,2.15,107.03,0.834,4,0.064,0.053,3333,3949,2415
$GC,2254,1.17,146.1,254.9,12.6,361,2261,0.40,2.12,0.00,0.000,6,0.181,0.035,3233,2530,2412
$GC,2595,1.22,176.2,223.7,7.3,418,2621,0.00,0.00,22.62,0.785,6,0.000,0.000,3233,2530,2293
$GC,2959,1.23,181.9,190.9,8.8,482,2972,0.00,2.20,5.43,0.581,4,0.000,0.055,3233,3943,2270
$GC,3025,1.16,181.9,184.6,9.3,493,3031,0.00,2.08,0.00,0.000,6,0.000,0.035,3242,2520,2270
$GC,3369,1.19,200.6,155.7,8.0,554,3390,0.00,2.25,16.05,0.706,4,0.000,0.057,3242,3944,2194
$GC,3482,1.21,213.0,146.1,8.4,573,3501,0.00,2.08,11.48,0.676,6,0.000,0.036,3253,2523,2142
$GC,3842,1.41,262.9,117.9,6.1,636,3888,0.12,2.17,39.05,0.732,4,0.072,0.047,3322,1125,1940
$GC,4143,1.58,316.2,93.3,5.9,688,4193,0.00,2.10,41.15,0.715,6,0.000,0.043,3322,2510,1721
$GC,4534,1.67,318.8,61.4,9.0,756,4541,0.00,2.17,0.00,0.000,4,0.000,0.057,3322,3940,1717
$GC,4587,1.67,318.8,55.8,10.4,765,4593,0.00,2.10,0.00,0.000,6,0.000,0.036,3332,2503,1717
$GC,4933,1.81,335.5,25.5,8.1,826,4948,0.15,2.10,9.12,0.658,4,0.068,0.046,3410,1124,1644
$STATE,5149,end climb,SURFACE_DEPTH_REACHED
$STATE,5149,begin surface coast
$FINISH,0.5,1.021723
$STATE,5167,end surface coast,CONTROL_FINISHED_OK
$STATE,5167,begin surface
$SM_CCo,5189,77.05,0.606,0,0,971,500.17
$SM_GC,1.37,0.00,0.00,77.05,0.000,0.000,0.606,81,2560,971,-13.34,0.54,500.17
$IRIDIUM_FIX,1112.86,12157.76,180598,000007
$TT8_MAMPS,0.025311
$HUMID,1783
$INTERNAL_PRESSURE,9.7953
$TCM_TEMP,23.00
$XPDR_PINGS,129
$24V_AH,24.6,10.383
$10V_AH,10.8,8.857
$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,23.100,42.325,358.825,77.050,0.000,24.870,33.084,187.000,33.000,0.000,0.000,31.917,1401.326,1866.147,501.517,1464.551,437.488,0.000,1172.895,0.000,1453.482,0.000,6.004,0.000
$DEVICE_MAMPS,228.566,69.030,849.069,605.930,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,AQUADOPP,nil
$SENSOR_SECS,585.055,637.985,447.362,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,71.000,0.000
$DATA_FILE_SIZE,50631,867
$CAP_FILE_SIZE,71293,0
$CFSIZE,260165632,250503168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.022,261.0,1
$GPS,210209,034808,1116.713,12156.236,14,1.8,14,-0.5