version: 66.02
glider: 116
mission: 6
dive: 231
start: 10 5 107 16 48 15
data:
$ID,116
$MISSION,6
$DIVE,231
$D_SURF,2
$D_FLARE,2
$D_TGT,30
$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,10
$T_MISSION,30
$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,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,-34393.746
$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,16
$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
$GPS1,163833,4743.621,-12250.796,13,1.6,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-65.3
$GPS2,164645,4743.626,-12250.782,13,1.5,13,18.3
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.085,-0.272
$KALMAN_X,29072.8,53.0,7.2,-25926.4,15.5
$KALMAN_Y,17928.2,58.0,-72.1,-8877.7,54.4
$MHEAD_RNG_PITCHd_Wd,144.3,137,-15.6,-10.000
$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,30,end surface,CONTROL_FINISHED_OK
$STATE,30,begin dive
$GC,34,-1.45,-127.1,0.0,0.0,0,115,0.00,0.00,-77.78,0.000,2,0.000,0.000,138,995,3316
$GC,119,-1.45,-127.1,2.4,-4.6,13,157,15.57,2.58,-16.02,0.000,4,0.206,0.050,2584,2420,3801
$GC,263,-1.45,-127.1,12.3,-8.8,35,269,0.00,2.58,0.00,0.000,6,0.000,0.048,2584,1000,3802
$GC,337,-1.45,-127.1,17.2,-6.4,46,343,0.00,2.50,0.00,0.000,4,0.000,0.038,2584,2420,3802
$GC,515,-1.45,-127.1,27.1,-5.4,63,521,0.00,2.58,0.00,0.000,6,0.000,0.048,2584,996,3802
$STATE,569,end dive,TARGET_DEPTH_EXCEEDED
$STATE,569,begin apogee
$GC,579,-0.42,0.0,30.1,5.5,68,732,1.10,0.00,148.32,0.602,6,0.100,0.000,2806,2519,3281
$STATE,735,end apogee,CONTROL_FINISHED_OK
$STATE,736,begin climb
$GC,739,1.45,127.1,31.2,0.0,81,894,1.90,2.60,142.98,0.576,4,0.059,0.046,3226,1095,2761
$GC,922,1.45,127.1,15.6,11.1,98,928,0.00,2.55,0.00,0.000,6,0.000,0.039,3226,2519,2761
$GC,996,1.53,186.0,8.4,7.8,109,1045,0.00,2.67,44.15,0.568,4,0.000,0.046,3226,1086,2522
$STATE,1065,end climb,SURFACE_DEPTH_REACHED
$STATE,1065,begin surface coast
$FINISH,1.1,1.022053
$STATE,1070,end surface coast,CONTROL_FINISHED_OK
$STATE,1070,begin surface
$SM_CCo,1100,93.43,0.545,0,0,1649,400.08
$SM_GC,1.19,0.00,0.00,93.43,0.000,0.000,0.545,135,991,1649,-12.74,-0.25,400.08
$IRIDIUM_FIX,4726.11,-12250.84,051007,202056
$TT8_MAMPS,0.070564
$HUMID,2074
$INTERNAL_PRESSURE,11.4946
$TCM_TEMP,19.80
$XPDR_PINGS,23
$24V_AH,24.0,41.150
$10V_AH,10.0,25.858
$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,32.725,20.975,335.450,93.425,0.000,40.472,49.612,219.502,5.750,0.000,1849.000,13.315,233.611,264.120,495.317,235.752,506.144,33.328,675.217,0.000,220.065,0.000,0.935
$DEVICE_MAMPS,206.323,71.331,602.095,545.337,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,76.072,0.000,0.000,0.000,0.000,0.000,0.000,1849.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,21.848,51.000
$DATA_FILE_SIZE,3329,121
$CFSIZE,260034560,250032128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,170857,4743.549,-12250.710,9,1.6,9,18.3