version: 66.02
glider: 116
mission: 6
dive: 183
start: 10 3 107 19 34 6
data:
$ID,116
$MISSION,6
$DIVE,183
$D_SURF,2
$D_FLARE,2
$D_TGT,95
$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,-33270.84
$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,15
$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
$GPS1,192220,4743.338,-12250.801,9,1.3,14,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-58.5
$GPS2,193256,4743.375,-12250.720,14,1.8,14,18.3
$SPEED_LIMITS,0.137,0.240
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.032,0.133
$KALMAN_X,29306.4,-78.2,-136.1,-25808.8,70.9
$KALMAN_Y,22386.3,-239.1,81.6,-13657.2,27.8
$MHEAD_RNG_PITCHd_Wd,328.4,348,-26.9,-7.917
$D_GRID,166
$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,29,end surface,CONTROL_FINISHED_OK
$STATE,29,begin dive
$GC,32,-2.30,-44.5,0.0,0.0,0,119,0.00,0.00,-83.95,0.000,2,0.000,0.000,137,996,3420
$GC,123,-2.33,-75.2,2.3,-4.3,14,148,14.52,1.67,-4.95,0.000,4,0.212,0.108,2393,167,3588
$GC,399,-2.35,-85.1,26.0,-6.7,50,403,0.00,1.50,-0.50,0.000,6,0.000,0.044,2392,1001,3632
$GC,602,-2.36,-94.6,39.0,-6.8,66,606,0.00,1.62,-0.35,0.000,4,0.000,0.102,2392,159,3668
$GC,859,-2.36,-94.6,59.7,-8.4,85,866,0.00,1.50,0.00,0.000,6,0.000,0.043,2392,1000,3669
$GC,1055,-2.36,-94.6,75.2,-7.9,101,1060,0.00,2.47,0.00,0.000,4,0.000,0.040,2392,2412,3669
$GC,1189,-2.36,-94.6,85.5,-8.2,110,1195,0.00,2.55,0.00,0.000,6,0.000,0.050,2392,999,3669
$STATE,1306,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1306,begin apogee
$GC,1316,-0.42,0.0,95.4,8.2,120,1434,2.12,0.00,112.72,0.650,6,0.123,0.000,2809,2508,3281
$STATE,1436,end apogee,CONTROL_FINISHED_OK
$STATE,1436,begin climb
$GC,1441,2.36,94.6,96.8,0.0,130,1564,2.75,2.60,110.95,0.621,4,0.056,0.049,3422,1094,2895
$GC,1596,2.36,94.6,77.0,17.5,142,1603,0.00,2.53,0.00,0.000,6,0.000,0.040,3422,2509,2894
$GC,1793,2.36,94.6,42.2,17.8,158,1797,0.00,2.60,0.00,0.000,4,0.000,0.070,3422,3892,2895
$GC,1905,2.36,94.6,21.3,18.1,166,1910,0.00,2.45,0.00,0.000,6,0.000,0.036,3422,2496,2894
$STATE,2041,end climb,SURFACE_DEPTH_REACHED
$STATE,2041,begin surface coast
$FINISH,0.2,1.021726
$STATE,2062,end surface coast,CONTROL_FINISHED_OK
$STATE,2062,begin surface
$SM_CCo,2097,134.68,0.568,0,0,1649,400.08
$SM_GC,0.88,0.00,0.00,134.68,0.000,0.000,0.568,132,1010,1649,-12.76,0.28,400.08
$IRIDIUM_FIX,4729.30,-12252.58,031007,232343
$TT8_MAMPS,0.066729
$HUMID,2124
$INTERNAL_PRESSURE,11.4848
$TCM_TEMP,19.80
$XPDR_PINGS,119
$24V_AH,23.9,35.916
$10V_AH,10.1,22.224
$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,34.550,26.950,223.675,134.675,0.000,75.506,77.747,262.506,30.000,4.150,2953.850,14.977,364.864,1080.914,444.579,397.967,607.184,33.336,686.521,0.000,377.739,0.000,2.496
$DEVICE_MAMPS,211.692,108.147,650.416,568.347,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,123.465,0.000,0.000,0.000,0.000,0.000,0.000,2958.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3299,188
$CFSIZE,260034560,251559936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031007,201209,4743.514,-12250.773,13,1.5,13,18.3