version: 66.02
glider: 116
mission: 6
dive: 145
start: 10 2 107 6 33 26
data:
$ID,116
$MISSION,6
$DIVE,145
$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,-32369.434
$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,17
$R_STBD_OVSHOOT,19
$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
$GPS1,062547,4739.143,-12253.012,8,3.6,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-61.2
$GPS2,063217,4739.234,-12252.820,13,3.3,32,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.159,-0.185
$KALMAN_X,22057.0,33.0,-38.2,-21393.2,350.7
$KALMAN_Y,16231.0,53.5,-63.8,-15322.6,409.6
$MHEAD_RNG_PITCHd_Wd,202.5,934,-14.6,-8.333
$D_GRID,125
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,31,-1.40,-146.6,0.0,0.0,0,104,0.00,0.00,-70.75,0.000,2,0.000,0.000,137,988,3196
$GC,108,-1.40,-146.6,2.1,-4.7,12,152,15.52,2.60,-22.65,0.000,4,0.204,0.054,2593,2417,3879
$GC,278,-1.40,-146.6,11.3,-5.7,38,285,0.00,2.58,0.00,0.000,6,0.000,0.050,2593,1000,3881
$GC,352,-1.40,-146.6,15.8,-6.2,49,357,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,1000,3881
$GC,423,-1.40,-146.6,21.1,-7.5,59,425,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,1001,3881
$GC,617,-1.40,-146.6,34.0,-6.7,74,621,0.00,2.50,0.00,0.000,4,0.000,0.041,2593,2414,3882
$GC,795,-1.40,-146.6,46.1,-6.6,87,799,0.00,2.58,0.00,0.000,6,0.000,0.052,2593,1000,3881
$GC,991,-1.40,-146.6,59.3,-6.6,102,995,0.00,2.50,0.00,0.000,4,0.000,0.041,2593,2422,3881
$GC,1149,-1.40,-146.6,69.9,-6.5,114,1154,0.00,2.60,0.00,0.000,6,0.000,0.051,2593,992,3881
$GC,1345,-1.40,-146.6,82.3,-6.2,129,1350,0.00,2.53,0.00,0.000,4,0.000,0.041,2593,2423,3881
$GC,1516,-1.40,-146.6,92.4,-5.9,141,1523,0.00,2.58,0.00,0.000,6,0.000,0.051,2593,1000,3881
$STATE,1647,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1647,begin apogee
$GC,1657,-0.42,0.0,100.3,5.9,152,1837,1.05,0.00,172.80,0.648,6,0.097,0.000,2806,2518,3281
$STATE,1838,end apogee,CONTROL_FINISHED_OK
$STATE,1838,begin climb
$GC,1841,1.40,146.6,101.9,0.0,167,2019,1.83,0.00,171.50,0.616,6,0.059,0.000,3211,2518,2683
$GC,2205,1.40,146.6,66.7,11.2,197,2210,0.00,2.60,0.00,0.000,4,0.000,0.051,3210,1086,2683
$GC,2244,1.40,146.6,62.1,11.6,199,2251,0.00,2.55,0.00,0.000,6,0.000,0.041,3210,2514,2683
$GC,2440,1.40,146.6,39.3,11.7,215,2441,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2512,2682
$GC,2634,1.40,146.6,18.4,11.2,231,2639,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2514,2682
$GC,2706,1.40,146.6,10.7,9.3,242,2711,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2512,2682
$GC,2778,1.40,146.6,3.2,10.4,253,2784,0.00,2.60,0.00,0.000,4,0.000,0.074,3210,3891,2682
$STATE,2788,end climb,SURFACE_DEPTH_REACHED
$STATE,2788,begin surface coast
$FINISH,0.4,1.020788
$STATE,2803,end surface coast,CONTROL_FINISHED_OK
$STATE,2803,begin surface
$SM_CCo,2839,112.60,0.577,0,0,1650,400.08
$SM_GC,0.89,0.00,0.00,112.60,0.000,0.000,0.577,134,992,1650,-12.75,-0.23,400.08
$IRIDIUM_FIX,4719.74,-12254.47,021007,090950
$TT8_MAMPS,0.066729
$HUMID,2147
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,19.70
$XPDR_PINGS,168
$24V_AH,23.9,31.632
$10V_AH,10.1,19.380
$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,32.525,36.225,344.300,112.600,0.000,39.966,32.868,158.891,42.500,0.000,3482.000,32.952,463.852,1427.103,543.556,508.580,425.307,33.347,848.493,0.000,468.191,0.000,4.058
$DEVICE_MAMPS,204.022,74.399,648.115,576.784,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,168.804,0.000,0.000,0.000,0.000,0.000,0.000,3482.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6435,257
$CFSIZE,260034560,252760064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,072347,4739.232,-12252.865,12,5.6,31,18.3