version: 66.02
glider: 116
mission: 6
dive: 101
start: 9 30 107 17 43 19
data:
$ID,116
$MISSION,6
$DIVE,101
$D_SURF,2
$D_FLARE,2
$D_TGT,100
$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,40
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51361
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,-31408.164
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,132
$PITCH_MAX,3449
$C_PITCH,2905
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,155
$ROLL_MAX,3900
$C_ROLL_DIVE,1000
$C_ROLL_CLIMB,2510
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,640
$VBD_MAX,3893
$C_VBD,3281
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,10
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,0
$PRESSURE_SLOPE,0.0001158926
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,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,1
$ALTIM_PING_DEPTH,90
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043755369
$SEABIRD_T_H,0.00063954171
$SEABIRD_T_I,2.7100008e-05
$SEABIRD_T_J,3.135212e-06
$SEABIRD_C_G,-9.8677502
$SEABIRD_C_H,1.1239791
$SEABIRD_C_I,-0.0015851235
$SEABIRD_C_J,0.00021129416
$GPS1,173544,4739.318,-12252.933,8,1.6,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-62.1
$GPS2,174209,4739.391,-12252.776,13,1.6,13,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.157,-0.187
$KALMAN_X,7004.1,476.8,-156.2,-6609.9,207.6
$KALMAN_Y,6002.8,720.3,-22.9,-5515.2,214.1
$MHEAD_RNG_PITCHd_Wd,201.7,1193,-14.6,-8.333
$D_GRID,124
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-1.40,-146.6,0.0,0.0,0,109,0.00,0.00,-76.72,0.000,2,0.000,0.000,133,1002,3265
$GC,112,-1.40,-146.6,2.1,-4.8,13,156,15.80,2.53,-20.48,0.000,4,0.210,0.052,2594,2421,3879
$GC,211,-1.40,-146.6,7.2,-5.2,28,217,0.00,2.60,0.00,0.000,6,0.000,0.051,2593,995,3880
$GC,284,-1.40,-146.6,10.5,-5.6,39,290,0.00,2.53,0.00,0.000,4,0.000,0.041,2594,2418,3880
$GC,501,-1.40,-146.6,23.0,-5.6,68,507,0.00,2.58,0.00,0.000,6,0.000,0.051,2594,1001,3880
$GC,697,-1.40,-146.6,34.5,-5.7,84,701,0.00,2.50,0.00,0.000,4,0.000,0.041,2594,2415,3880
$GC,843,-1.40,-146.6,42.6,-5.6,94,849,0.00,2.58,0.00,0.000,6,0.000,0.051,2594,998,3880
$GC,1039,-1.40,-146.6,54.7,-6.5,110,1043,0.00,2.50,0.00,0.000,4,0.000,0.041,2593,2413,3880
$GC,1204,-1.40,-146.6,64.5,-5.9,122,1209,0.00,2.58,0.00,0.000,6,0.000,0.051,2594,999,3880
$GC,1400,-1.40,-146.6,75.7,-5.6,137,1404,0.00,2.50,0.00,0.000,4,0.000,0.041,2594,2413,3880
$GC,1610,-1.40,-146.6,88.2,-6.4,152,1617,0.00,2.58,0.00,0.000,6,0.000,0.053,2594,1001,3880
$STATE,1782,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1782,begin apogee
$GC,1791,-0.42,0.0,100.4,6.9,166,1970,1.05,0.00,172.80,0.650,6,0.096,0.000,2807,2514,3281
$STATE,1971,end apogee,CONTROL_FINISHED_OK
$STATE,1972,begin climb
$GC,1974,1.40,146.6,103.7,0.0,181,2155,1.83,2.65,171.00,0.621,4,0.060,0.049,3213,1095,2683
$GC,2195,1.40,146.6,85.7,10.8,199,2202,0.00,2.58,0.00,0.000,6,0.000,0.041,3213,2508,2683
$GC,2392,1.40,146.6,65.1,10.5,215,2396,0.00,2.62,0.00,0.000,4,0.000,0.076,3212,3890,2683
$GC,2477,1.40,146.6,54.9,11.7,221,2482,0.00,2.47,0.00,0.000,6,0.000,0.038,3212,2485,2682
$GC,2673,1.40,146.6,33.1,11.5,236,2674,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2485,2683
$GC,2868,1.40,146.6,12.0,9.8,257,2873,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2484,2683
$GC,2939,1.40,146.6,3.1,12.2,268,2945,0.00,2.65,0.00,0.000,4,0.000,0.071,3212,3894,2683
$STATE,2950,end climb,SURFACE_DEPTH_REACHED
$STATE,2950,begin surface coast
$FINISH,0.2,1.021592
$STATE,2964,end surface coast,CONTROL_FINISHED_OK
$STATE,2964,begin surface
$SM_CCo,2999,112.45,0.577,0,0,1650,400.08
$SM_GC,0.75,0.00,0.00,112.45,0.000,0.000,0.577,133,1010,1650,-12.75,0.28,400.08
$IRIDIUM_FIX,4722.92,-12256.21,300907,202045
$TT8_MAMPS,0.066729
$HUMID,2125
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,19.70
$XPDR_PINGS,181
$24V_AH,23.9,27.125
$10V_AH,10.1,16.508
$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,32.825,46.425,343.800,112.450,0.000,37.793,36.764,175.988,45.750,20.030,3590.970,13.658,494.550,1513.666,554.295,528.802,434.237,33.329,879.081,0.000,509.761,0.000,4.059
$DEVICE_MAMPS,210.158,75.933,649.649,576.784,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,178.759,0.000,0.000,0.000,0.000,0.000,0.000,3611.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6470,272
$CFSIZE,260034560,254066688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,183617,4739.301,-12252.911,10,2.1,29,18.3