version: 66.02
glider: 116
mission: 6
dive: 280
start: 10 7 107 16 47 17
data:
$ID,116
$MISSION,6
$DIVE,280
$D_SURF,2
$D_FLARE,2
$D_TGT,200
$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,90
$T_MISSION,180
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,1200
$USE_BATHY,0
$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,15
$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,-35447.746
$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,13
$R_STBD_OVSHOOT,23
$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
$GPS1,163053,4743.060,-12250.855,11,2.2,30,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-60.9
$GPS2,164603,4743.171,-12250.875,11,1.8,11,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.151,-0.231
$KALMAN_X,32747.3,-275.6,-37.0,-29342.2,-118.5
$KALMAN_Y,25592.0,574.3,159.5,-18136.2,68.4
$MHEAD_RNG_PITCHd_Wd,128.6,237,-9.8,-7.407
$D_GRID,200
$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,31,end surface,CONTROL_FINISHED_OK
$STATE,31,begin dive
$GC,35,-0.97,-127.1,0.0,0.0,0,116,0.00,0.00,-77.82,0.000,2,0.000,0.000,137,995,3268
$GC,120,-0.97,-127.1,2.3,-3.3,13,164,16.50,2.53,-19.98,0.000,4,0.212,0.051,2689,2417,3800
$GC,330,-0.97,-127.1,11.8,-4.7,45,336,0.00,2.58,0.00,0.000,6,0.000,0.049,2689,995,3801
$GC,404,-0.97,-127.1,15.4,-4.8,56,410,0.00,2.50,0.00,0.000,4,0.000,0.039,2689,2412,3801
$GC,510,-0.97,-127.1,19.9,-3.8,72,516,0.00,2.55,0.00,0.000,6,0.000,0.049,2689,1000,3801
$GC,580,-0.97,-127.1,22.9,-4.5,78,585,0.00,2.50,0.00,0.000,4,0.000,0.039,2689,2419,3800
$GC,733,-0.97,-127.1,29.1,-4.7,89,737,0.00,2.58,0.00,0.000,6,0.000,0.049,2689,998,3800
$GC,930,-0.97,-127.1,37.5,-4.4,104,934,0.00,2.50,0.00,0.000,4,0.000,0.039,2689,2416,3801
$GC,1188,-0.97,-127.1,47.9,-4.0,123,1192,0.00,2.55,0.00,0.000,6,0.000,0.050,2689,1001,3801
$GC,1392,-0.97,-127.1,55.7,-4.0,139,1396,0.00,2.47,0.00,0.000,4,0.000,0.039,2689,2413,3800
$GC,1653,-0.97,-127.1,65.6,-3.7,158,1657,0.00,2.58,0.00,0.000,6,0.000,0.051,2689,993,3801
$GC,1849,-0.97,-127.1,72.8,-3.6,173,1854,0.00,2.50,0.00,0.000,4,0.000,0.040,2689,2413,3801
$GC,2110,-0.97,-127.1,82.3,-3.8,192,2114,0.00,2.58,0.00,0.000,6,0.000,0.050,2689,992,3801
$GC,2307,-0.97,-127.1,90.5,-4.3,207,2311,0.00,2.47,0.00,0.000,4,0.000,0.040,2689,2412,3801
$GC,2564,-0.97,-127.1,101.7,-4.3,226,2570,0.00,2.55,0.00,0.000,6,0.000,0.050,2689,998,3801
$GC,2762,-0.97,-127.1,110.2,-4.5,242,2766,0.00,2.50,0.00,0.000,4,0.000,0.039,2689,2419,3801
$GC,2896,-0.97,-127.1,115.9,-4.2,251,2903,0.00,2.58,0.00,0.000,6,0.000,0.050,2689,990,3801
$GC,3093,-0.97,-127.1,123.5,-3.9,267,3097,0.00,1.60,0.00,0.000,4,0.000,0.097,2690,166,3801
$GC,3192,-0.97,-127.1,127.4,-4.2,274,3198,0.00,1.50,0.00,0.000,6,0.000,0.048,2689,997,3800
$GC,3389,-0.97,-127.1,134.1,-3.3,290,3393,0.00,2.47,0.00,0.000,4,0.000,0.039,2689,2414,3801
$GC,3650,-0.97,-127.1,143.7,-3.8,309,3654,0.00,2.58,0.00,0.000,6,0.000,0.051,2689,993,3800
$GC,3847,-0.97,-127.1,151.8,-4.1,324,3851,0.00,2.50,0.00,0.000,4,0.000,0.039,2689,2416,3800
$GC,4104,-0.97,-127.1,161.8,-3.5,343,4110,0.00,2.58,0.00,0.000,6,0.000,0.051,2689,994,3801
$GC,4301,-0.97,-127.1,169.8,-4.3,359,4306,0.00,2.50,0.00,0.000,4,0.000,0.039,2689,2417,3800
$GC,4559,-0.97,-127.1,177.8,-0.2,378,4565,0.00,2.58,0.00,0.000,6,0.000,0.051,2689,992,3801
$GC,4755,-0.97,-127.1,177.8,-0.0,394,4759,0.00,2.50,0.00,0.000,4,0.000,0.040,2689,2414,3800
$GC,4789,-0.97,-127.1,177.9,-0.4,396,4793,0.00,2.55,0.00,0.000,6,0.000,0.051,2690,999,3800
$GC,4993,-0.97,-127.1,177.9,0.1,412,4996,0.00,1.62,0.00,0.000,4,0.000,0.095,2690,159,3800
$GC,5250,-0.97,-127.1,177.9,-0.3,431,5256,0.00,1.50,0.00,0.000,6,0.000,0.048,2690,997,3800
$STATE,5410,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5410,begin apogee
$GC,5421,-0.42,0.0,177.9,0.1,444,5580,0.55,0.00,153.02,0.696,6,0.063,0.000,2813,2510,3281
$STATE,5582,end apogee,CONTROL_FINISHED_OK
$STATE,5582,begin climb
$GC,5585,0.97,127.1,177.2,0.0,457,5747,1.38,2.67,151.73,0.667,4,0.063,0.078,3112,3889,2761
$GC,5874,0.97,127.1,157.6,8.3,479,5880,0.00,2.45,0.00,0.000,6,0.000,0.038,3112,2492,2761
$GC,6070,0.97,127.1,142.2,7.9,495,6074,0.00,2.50,0.00,0.000,4,0.000,0.053,3112,1107,2760
$GC,6096,0.97,127.1,140.0,8.4,496,6102,0.00,2.50,0.00,0.000,6,0.000,0.041,3112,2511,2760
$GC,6292,0.97,127.1,124.8,7.7,512,6294,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2511,2760
$GC,6487,0.97,127.1,110.1,7.5,527,6491,0.00,2.53,0.00,0.000,4,0.000,0.049,3113,1108,2760
$GC,6520,0.97,127.7,107.3,7.4,529,6525,0.00,2.50,0.00,0.000,6,0.000,0.041,3115,2511,2760
$GC,6724,0.99,140.8,92.5,7.1,545,6745,0.00,0.00,15.62,0.693,6,0.000,0.000,3112,2511,2706
$GC,6936,0.99,140.8,76.6,7.7,562,6940,0.00,2.53,0.00,0.000,4,0.000,0.048,3113,1108,2706
$GC,6983,0.99,140.8,72.8,7.7,565,6987,0.00,2.50,0.00,0.000,6,0.000,0.041,3113,2514,2705
$GC,7179,0.99,140.8,57.7,7.7,580,7183,0.00,2.53,0.00,0.000,4,0.000,0.048,3113,1108,2705
$GC,7218,0.99,140.8,54.7,7.8,582,7224,0.00,2.47,0.00,0.000,6,0.000,0.040,3113,2509,2706
$GC,7415,0.99,140.8,40.1,7.5,598,7419,0.00,2.53,0.00,0.000,4,0.000,0.048,3113,1102,2705
$GC,7454,1.00,154.2,37.1,7.1,600,7476,0.00,2.50,14.95,0.676,6,0.000,0.040,3113,2518,2652
$GC,7675,1.03,176.9,21.4,6.9,618,7706,0.00,2.60,23.70,0.647,4,0.000,0.048,3112,1102,2559
$GC,7787,1.03,179.3,13.4,7.4,633,7794,0.00,2.53,2.17,0.750,6,0.000,0.040,3113,2518,2549
$GC,7864,1.07,209.8,8.3,6.7,644,7896,0.12,2.67,25.90,0.628,4,0.058,0.071,3145,3888,2425
$STATE,7946,end climb,SURFACE_DEPTH_REACHED
$STATE,7946,begin surface coast
$FINISH,0.6,1.006938
$STATE,7974,end surface coast,CONTROL_FINISHED_OK
$STATE,7974,begin surface
$SM_CCo,8012,84.07,0.588,0,0,1649,400.08
$SM_GC,1.22,0.00,0.00,84.07,0.000,0.000,0.588,132,1007,1649,-12.76,0.20,400.08
$IRIDIUM_FIX,4726.11,-12252.58,071007,202054
$TT8_MAMPS,0.069797
$HUMID,2128
$INTERNAL_PRESSURE,11.4653
$TCM_TEMP,19.60
$XPDR_PINGS,561
$24V_AH,23.9,46.523
$10V_AH,9.9,29.918
$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,32.150,112.925,387.100,84.075,0.000,119.740,224.986,268.695,142.500,0.000,9181.000,11.651,1250.538,4754.302,597.925,1367.616,1066.802,33.336,1342.529,0.000,1325.499,0.000,17.889
$DEVICE_MAMPS,212.459,96.642,750.126,588.289,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,442.431,0.000,0.000,0.000,0.000,0.000,0.000,9181.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,32.963,51.000
$DATA_FILE_SIZE,19011,661
$CFSIZE,260034560,248184832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,190337,4742.894,-12250.668,37,1.1,43,18.3