version: 66.02
glider: 116
mission: 6
dive: 217
start: 10 5 107 2 19 47
data:
$ID,116
$MISSION,6
$DIVE,217
$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,45
$T_MISSION,90
$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,130
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$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,647.83728
$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,-34038.148
$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
$GPS1,015947,4743.583,-12250.646,13,2.6,32,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-65.0
$GPS2,021837,4743.433,-12250.777,35,1.0,35,18.3
$SPEED_LIMITS,0.193,0.216
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.057,0.185
$KALMAN_X,29261.9,-102.5,-141.5,-25803.5,-55.7
$KALMAN_Y,18718.3,-281.6,-261.7,-9491.9,-148.5
$MHEAD_RNG_PITCHd_Wd,359.0,250,-15.6,-7.037
$D_GRID,167
$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,-1.42,-98.7,0.0,0.0,0,112,0.00,0.00,-77.90,0.000,2,0.000,0.000,133,991,3291
$GC,116,-1.45,-127.1,2.3,-3.1,13,159,15.32,2.58,-17.38,0.000,4,0.202,0.051,2581,2417,3801
$GC,404,-1.45,-127.1,21.1,-6.1,56,408,0.00,2.55,0.00,0.000,6,0.000,0.048,2581,999,3802
$GC,607,-1.45,-127.1,33.8,-6.3,72,611,0.00,2.50,0.00,0.000,4,0.000,0.039,2581,2421,3802
$GC,694,-1.45,-127.1,39.2,-6.1,78,698,0.00,2.58,0.00,0.000,6,0.000,0.049,2581,998,3802
$GC,890,-1.45,-127.1,50.9,-5.9,93,894,0.00,2.50,0.00,0.000,4,0.000,0.039,2580,2420,3803
$GC,1003,-1.45,-127.1,57.4,-5.8,101,1007,0.00,2.58,0.00,0.000,6,0.000,0.050,2580,998,3802
$GC,1200,-1.45,-127.1,68.7,-5.7,116,1204,0.00,2.50,0.00,0.000,4,0.000,0.039,2581,2419,3803
$GC,1450,-1.45,-127.1,82.2,-5.1,134,1456,0.00,2.58,0.00,0.000,6,0.000,0.051,2581,995,3802
$GC,1646,-1.45,-127.1,93.4,-5.8,150,1651,0.00,2.50,0.00,0.000,4,0.000,0.039,2581,2417,3803
$STATE,1669,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1669,begin apogee
$GC,1677,-0.42,0.0,95.1,6.0,151,1831,1.12,0.00,150.52,0.647,6,0.097,0.000,2810,2515,3280
$STATE,1835,end apogee,CONTROL_FINISHED_OK
$STATE,1835,begin climb
$GC,1838,1.45,127.1,96.3,0.0,164,1999,1.88,2.62,148.73,0.614,4,0.057,0.048,3222,1086,2761
$GC,2059,1.45,127.1,75.2,13.1,181,2065,0.00,2.55,0.00,0.000,6,0.000,0.040,3222,2511,2761
$GC,2255,1.45,127.1,51.2,12.4,197,2256,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2511,2761
$GC,2447,1.45,127.1,29.1,11.9,212,2448,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2511,2760
$GC,2638,1.45,127.1,8.4,9.1,235,2643,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2511,2760
$GC,2710,1.45,127.1,2.0,8.7,246,2717,0.00,2.58,0.00,0.000,4,0.000,0.071,3222,3888,2760
$STATE,2721,end climb,SURFACE_DEPTH_REACHED
$STATE,2721,begin surface coast
$FINISH,0.3,1.007152
$STATE,2742,end surface coast,CONTROL_FINISHED_OK
$STATE,2742,begin surface
$SM_CCo,2778,232.60,0.561,0,0,640,647.84
$SM_GC,0.91,0.00,0.00,232.60,0.000,0.000,0.561,136,995,640,-12.74,-0.14,647.84
$IRIDIUM_FIX,4726.11,-12250.84,051007,060616
$TT8_MAMPS,0.069797
$HUMID,2092
$INTERNAL_PRESSURE,11.3969
$TCM_TEMP,19.70
$XPDR_PINGS,152
$24V_AH,23.9,39.606
$10V_AH,9.7,24.764
$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,32.075,36.025,299.250,232.600,0.000,192.693,384.311,142.788,38.250,0.000,4171.000,35.953,458.322,1653.590,615.787,503.538,937.237,33.345,919.650,0.000,469.438,0.000,2.496
$DEVICE_MAMPS,201.721,70.564,646.581,561.444,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,165.359,0.000,0.000,0.000,0.000,0.000,0.000,4171.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,21.848,51.000
$DATA_FILE_SIZE,6459,251
$CFSIZE,260034560,250437632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,031051,4743.474,-12250.755,13,1.7,14,18.3