version: 66.03
glider: 126
mission: 6
dive: 27
start: 12 21 107 17 25 8
data:
$ID,126
$MISSION,6
$DIVE,27
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,250
$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,50
$T_MISSION,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$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,1.0235
$MASS,51133
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038000001
$HD_B,0.012
$HD_C,4.8999998e-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,-619293.12
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,419
$PITCH_MAX,3700
$C_PITCH,2862
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,10.1
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,171
$ROLL_MAX,3756
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,1963
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,587
$VBD_MAX,3926
$C_VBD,3341
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00167
$VBD_PUMP_AD_RATE_SURFACE,5
$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,-4.2341571
$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,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,35
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043487432
$SEABIRD_T_H,0.00064342754
$SEABIRD_T_I,2.4770576e-05
$SEABIRD_T_J,2.5329045e-06
$SEABIRD_C_G,-9.9387798
$SEABIRD_C_H,1.0957668
$SEABIRD_C_I,-0.0017678341
$SEABIRD_C_J,0.00023932544
$GPS1,172155,4806.885,-12222.935,32,1.9,36,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-61.9
$GPS2,172444,4806.921,-12222.958,15,1.8,15,18.3
$SPEED_LIMITS,0.173,0.231
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,100.000
$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,126.9,2078,-20.0,-10.000
$D_GRID,103
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-2.23,-146.6,0.0,0.0,0,113,0.00,0.00,-92.53,0.000,2,0.000,0.000,419,2115,3908
$GC,115,-2.23,-146.6,3.3,-6.1,17,134,11.32,2.47,-0.38,0.000,4,0.185,0.067,2373,3498,3927
$GC,240,-2.23,-146.6,27.6,-13.7,35,245,0.00,2.42,0.00,0.000,6,0.000,0.037,2373,2082,3928
$GC,438,-2.23,-146.6,42.4,-6.8,53,439,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2081,3928
$GC,628,-2.23,-146.6,58.4,-10.0,71,632,0.00,2.53,0.00,0.000,4,0.000,0.054,2373,3494,3928
$GC,851,-2.23,-146.6,82.4,-10.6,90,859,0.00,2.40,0.00,0.000,6,0.000,0.035,2373,2099,3928
$STATE,1090,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1090,begin apogee
$GC,1094,-0.50,0.0,103.8,8.5,113,1213,1.85,0.00,112.90,0.841,6,0.108,0.000,2750,1950,3340
$STATE,1214,end apogee,CONTROL_FINISHED_OK
$STATE,1214,begin climb
$GC,1216,2.23,146.6,105.1,0.0,125,1343,2.70,2.62,113.05,0.802,4,0.072,0.066,3346,573,2743
$GC,1387,2.23,146.6,86.7,14.3,141,1392,0.00,2.40,0.00,0.000,6,0.000,0.035,3346,1968,2743
$GC,1712,2.23,146.6,46.6,12.1,171,1713,0.00,0.00,0.00,0.000,6,0.000,0.000,3347,1969,2742
$GC,1902,2.23,146.6,19.2,15.5,189,1908,0.00,0.00,0.00,0.000,6,0.000,0.000,3346,1969,2742
$GC,1975,2.23,146.6,7.9,11.5,202,1981,0.00,0.00,0.00,0.000,6,0.000,0.000,3346,1969,2743
$GC,2049,2.35,216.9,2.5,6.7,215,2062,0.12,0.00,10.70,0.735,2,0.074,0.000,3380,1969,2696
$STATE,2063,end climb,SURFACE_DEPTH_REACHED
$STATE,2063,begin surface coast
$FINISH,1.1,1.017874
$STATE,2096,end surface coast,CONTROL_FINISHED_OK
$STATE,2096,begin surface
$SM_CCo,2117,216.68,0.743,0,0,1301,500.17
$SM_GC,0.01,0.00,0.00,216.68,0.000,0.000,0.743,421,2112,1301,-11.22,0.34,500.17
$IRIDIUM_FIX,4748.51,-12221.84,211207,202041
$TT8_MAMPS,0.026078
$HUMID,1689
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,17.70
$XPDR_PINGS,83
$24V_AH,23.5,3.455
$10V_AH,10.1,1.088
$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,29.450,15.275,236.650,216.675,0.000,27.231,15.871,58.806,20.750,0.000,0.000,15.951,372.186,996.950,501.039,509.323,147.775,0.000,786.429,0.000,507.442,0.000,0.459
$DEVICE_MAMPS,184.847,66.729,841.399,743.223,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,148.513,385.022,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9652,223
$CAP_FILE_SIZE,28749,0
$CFSIZE,260165632,254726144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,211207,180445,4806.766,-12222.861,11,1.3,11,18.3