version: 66.02
glider: 116
mission: 6
dive: 276
start: 10 7 107 12 14 48
data:
$ID,116
$MISSION,6
$DIVE,276
$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,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,-35355.355
$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,14
$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
$GPS1,120539,4743.222,-12250.846,9,1.8,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-61.2
$GPS2,121339,4743.366,-12250.853,14,1.8,14,18.3
$SPEED_LIMITS,0.193,0.216
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.036,-0.213
$KALMAN_X,33286.3,-2.3,-71.1,-30093.2,-67.3
$KALMAN_Y,23906.3,684.7,182.0,-16227.7,166.7
$MHEAD_RNG_PITCHd_Wd,152.0,588,-13.3,-7.037
$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,33,-1.27,-127.1,0.0,0.0,0,113,0.00,0.00,-77.38,0.000,2,0.000,0.000,133,997,3249
$GC,117,-1.27,-127.1,2.2,-2.1,13,160,16.33,0.00,-22.23,0.000,6,0.219,0.000,2622,995,3800
$GC,227,-1.27,-127.1,6.5,-5.6,30,233,0.00,2.53,0.00,0.000,4,0.000,0.040,2622,2426,3801
$GC,307,-1.27,-127.1,10.9,-5.5,42,314,0.00,2.58,0.00,0.000,6,0.000,0.048,2622,999,3801
$GC,381,-1.27,-127.1,14.7,-5.2,53,387,0.00,2.50,0.00,0.000,4,0.000,0.039,2622,2417,3801
$GC,546,-1.27,-127.1,22.9,-5.8,74,552,0.00,2.58,0.00,0.000,6,0.000,0.048,2622,993,3801
$GC,745,-1.27,-127.1,33.5,-4.6,90,749,0.00,2.53,0.00,0.000,4,0.000,0.039,2622,2422,3802
$GC,1003,-1.27,-127.1,46.2,-4.2,109,1007,0.00,2.58,0.00,0.000,6,0.000,0.049,2622,1000,3801
$GC,1200,-1.27,-127.1,55.2,-4.2,124,1204,0.00,2.50,0.00,0.000,4,0.000,0.040,2622,2417,3801
$GC,1459,-1.27,-127.1,66.9,-4.8,143,1463,0.00,2.58,0.00,0.000,6,0.000,0.050,2622,996,3801
$GC,1656,-1.27,-127.1,75.7,-4.2,158,1660,0.00,2.50,0.00,0.000,4,0.000,0.040,2622,2417,3802
$GC,1914,-1.27,-127.1,86.2,-4.2,177,1919,0.00,2.58,0.00,0.000,6,0.000,0.050,2622,993,3801
$STATE,2087,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2087,begin apogee
$GC,2098,-0.42,0.0,95.0,5.3,190,2252,0.90,0.00,150.43,0.650,6,0.093,0.000,2808,2515,3281
$STATE,2256,end apogee,CONTROL_FINISHED_OK
$STATE,2256,begin climb
$GC,2260,1.27,127.1,97.7,0.0,203,2421,1.70,2.62,149.12,0.619,4,0.061,0.048,3178,1088,2761
$GC,2515,1.27,127.1,77.1,10.6,223,2519,0.00,2.55,0.00,0.000,6,0.000,0.041,3177,2511,2761
$GC,2713,1.27,127.1,57.6,9.9,238,2714,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2512,2761
$GC,2904,1.27,127.1,39.5,9.4,253,2905,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2512,2761
$GC,3092,1.27,127.1,22.5,9.1,268,3096,0.00,2.60,0.00,0.000,4,0.000,0.073,3177,3896,2760
$GC,3172,1.27,127.1,14.4,10.5,278,3179,0.00,2.45,0.00,0.000,6,0.000,0.037,3177,2491,2761
$GC,3246,1.27,127.1,7.3,9.0,289,3252,0.00,2.45,0.00,0.000,4,0.000,0.049,3178,1109,2761
$STATE,3303,end climb,SURFACE_DEPTH_REACHED
$STATE,3303,begin surface coast
$FINISH,0.5,1.010980
$STATE,3327,end surface coast,CONTROL_FINISHED_OK
$STATE,3327,begin surface
$SM_CCo,3357,120.47,0.576,0,0,1649,400.08
$SM_GC,1.31,0.00,0.00,120.47,0.000,0.000,0.576,132,1001,1649,-12.76,0.06,400.08
$IRIDIUM_FIX,4729.30,-12248.15,071007,151514
$TT8_MAMPS,0.067496
$HUMID,2136
$INTERNAL_PRESSURE,11.4555
$TCM_TEMP,19.60
$XPDR_PINGS,209
$24V_AH,23.9,46.048
$10V_AH,10.1,29.480
$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,32.550,41.050,299.550,120.475,0.000,37.094,38.926,235.059,52.500,0.000,4080.000,14.763,557.759,1737.888,507.905,604.453,574.816,33.339,867.436,0.000,582.949,0.000,2.497
$DEVICE_MAMPS,218.595,74.399,649.649,576.017,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,199.193,0.000,0.000,0.000,0.000,0.000,0.000,4080.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,32.963,51.000
$DATA_FILE_SIZE,9567,301
$CFSIZE,260034560,248410112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,131356,4743.234,-12250.988,13,1.7,31,18.3