version: 66.02
glider: 116
mission: 6
dive: 161
start: 10 2 107 22 2 31
data:
$ID,116
$MISSION,6
$DIVE,161
$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,-32746.008
$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,13
$R_STBD_OVSHOOT,18
$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
$GPS1,215438,4739.118,-12253.065,35,1.3,35,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-61.6
$GPS2,220121,4739.193,-12252.922,16,1.5,16,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.150,-0.192
$KALMAN_X,26996.0,669.0,244.8,-27374.6,108.7
$KALMAN_Y,21168.1,631.1,260.8,-21237.3,166.0
$MHEAD_RNG_PITCHd_Wd,199.7,792,-14.6,-8.333
$D_GRID,127
$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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,31,-1.40,-146.6,0.0,0.0,0,111,0.00,0.00,-78.18,0.000,2,0.000,0.000,133,1006,3299
$GC,115,-1.40,-146.6,2.1,-4.7,13,159,16.23,1.70,-18.27,0.000,4,0.219,0.117,2596,168,3881
$GC,409,-1.40,-146.6,23.4,-6.4,54,416,0.00,1.52,0.00,0.000,6,0.000,0.048,2595,1004,3882
$GC,606,-1.40,-146.6,36.3,-6.4,70,609,0.00,1.65,0.00,0.000,4,0.000,0.091,2596,161,3883
$GC,691,-1.40,-146.6,42.1,-6.9,76,697,0.00,1.52,0.00,0.000,6,0.000,0.048,2596,1003,3882
$GC,887,-1.40,-146.6,54.8,-6.2,92,891,0.00,2.50,0.00,0.000,4,0.000,0.044,2596,2416,3881
$GC,1052,-1.40,-146.6,64.9,-6.4,104,1057,0.00,2.58,0.00,0.000,6,0.000,0.052,2595,999,3882
$GC,1248,-1.40,-146.6,77.8,-6.5,119,1253,0.00,2.53,0.00,0.000,4,0.000,0.041,2595,2421,3882
$GC,1419,-1.40,-146.6,88.1,-5.9,131,1426,0.00,2.60,0.00,0.000,6,0.000,0.051,2596,994,3882
$STATE,1615,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1616,begin apogee
$GC,1625,-0.42,0.0,100.3,6.1,147,1806,1.05,0.00,174.65,0.643,6,0.097,0.000,2808,2517,3281
$STATE,1807,end apogee,CONTROL_FINISHED_OK
$STATE,1807,begin climb
$GC,1810,1.40,146.6,102.2,0.0,162,1995,1.83,2.62,172.43,0.613,4,0.060,0.051,3206,1089,2683
$GC,2027,1.40,146.6,83.1,10.9,179,2034,0.00,2.58,0.00,0.000,6,0.000,0.041,3206,2518,2683
$GC,2224,1.40,146.6,61.3,10.9,195,2228,0.00,2.60,0.00,0.000,4,0.000,0.075,3205,3890,2682
$GC,2336,1.40,146.6,47.9,11.9,203,2340,0.00,2.47,0.00,0.000,6,0.000,0.038,3206,2487,2682
$GC,2532,1.40,146.6,25.3,11.7,218,2533,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2486,2682
$GC,2727,1.40,146.6,3.0,11.9,244,2733,0.00,2.65,0.00,0.000,4,0.000,0.069,3205,3896,2681
$STATE,2737,end climb,SURFACE_DEPTH_REACHED
$STATE,2738,begin surface coast
$FINISH,0.2,1.021577
$STATE,2758,end surface coast,CONTROL_FINISHED_OK
$STATE,2759,begin surface
$SM_CCo,2795,111.60,0.573,0,0,1649,400.08
$SM_GC,0.82,0.00,0.00,111.60,0.000,0.000,0.573,137,1002,1649,-12.73,0.06,400.08
$IRIDIUM_FIX,4722.92,-12256.21,031007,000036
$TT8_MAMPS,0.068263
$HUMID,2135
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,19.70
$XPDR_PINGS,166
$24V_AH,23.4,33.441
$10V_AH,10.0,20.572
$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,33.200,37.600,347.075,111.600,0.000,37.864,32.962,181.084,42.000,33.200,3413.800,16.198,452.119,1395.876,549.112,489.427,450.641,33.344,849.008,0.000,465.306,0.000,4.058
$DEVICE_MAMPS,218.595,116.584,642.746,572.949,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,163.489,0.000,0.000,0.000,0.000,0.000,0.000,3447.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6451,249
$CFSIZE,260034560,252260352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,225205,4739.120,-12253.009,10,2.2,29,18.3