version: 66.02
glider: 116
mission: 6
dive: 284
start: 10 7 107 22 21 14
data:
$ID,116
$MISSION,6
$DIVE,284
$D_SURF,2
$D_FLARE,2
$D_TGT,90
$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,30
$T_MISSION,45
$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,450
$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,-35507.785
$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,20
$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
$GPS1,221128,4743.056,-12251.120,41,4.1,60,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-61.0
$GPS2,221944,4743.066,-12251.115,9,1.7,15,18.3
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.275,-0.000
$KALMAN_X,32343.3,-263.2,-49.1,-29240.9,65.7
$KALMAN_Y,27122.4,219.8,126.0,-19471.1,-28.4
$MHEAD_RNG_PITCHd_Wd,71.8,373,-16.3,-10.000
$D_GRID,162
$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,35,-1.52,-127.1,0.0,0.0,0,120,0.00,0.00,-83.38,0.000,2,0.000,0.000,137,1006,3184
$GC,125,-1.52,-127.1,2.1,-2.6,14,174,15.80,2.50,-25.40,0.000,4,0.214,0.051,2571,2416,3800
$GC,426,-1.52,-127.1,20.9,-7.2,60,431,0.00,2.55,0.00,0.000,6,0.000,0.049,2571,1002,3801
$GC,630,-1.52,-127.1,35.3,-6.7,76,634,0.00,2.50,0.00,0.000,4,0.000,0.039,2570,2419,3800
$GC,827,-1.52,-127.1,46.6,-6.0,90,834,0.00,2.58,0.00,0.000,6,0.000,0.049,2571,994,3801
$GC,1024,-1.52,-127.1,58.6,-6.4,106,1028,0.00,2.50,0.00,0.000,4,0.000,0.039,2570,2415,3801
$GC,1169,-1.52,-127.1,66.9,-5.2,116,1175,0.00,2.58,0.00,0.000,6,0.000,0.049,2571,995,3801
$STATE,1362,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1362,begin apogee
$GC,1373,-0.42,0.0,78.1,5.4,132,1527,1.17,0.00,149.93,0.636,6,0.101,0.000,2808,2517,3282
$STATE,1532,end apogee,CONTROL_FINISHED_OK
$STATE,1532,begin climb
$GC,1536,1.52,127.1,78.2,0.0,145,1697,1.95,2.62,148.40,0.606,4,0.060,0.055,3233,1090,2761
$GC,1738,1.52,127.1,57.8,12.4,161,1742,0.00,2.55,0.00,0.000,6,0.000,0.040,3233,2512,2761
$GC,1934,1.52,127.1,33.6,11.8,176,1939,0.00,2.60,0.00,0.000,4,0.000,0.073,3233,3890,2761
$GC,1970,1.52,127.1,29.4,13.2,178,1974,0.00,2.45,0.00,0.000,6,0.000,0.037,3233,2494,2761
$GC,2171,1.54,148.2,7.6,9.1,202,2196,0.00,2.53,17.38,0.614,4,0.000,0.051,3233,1111,2677
$STATE,2233,end climb,SURFACE_DEPTH_REACHED
$STATE,2233,begin surface coast
$FINISH,0.6,1.011626
$STATE,2254,end surface coast,CONTROL_FINISHED_OK
$STATE,2255,begin surface
$SM_CCo,2285,133.00,0.564,0,0,1446,450.13
$SM_GC,1.25,0.00,0.00,133.00,0.000,0.000,0.564,133,1004,1446,-12.75,0.11,450.13
$IRIDIUM_FIX,4726.11,-12250.84,081007,010124
$TT8_MAMPS,0.066729
$HUMID,2108
$INTERNAL_PRESSURE,11.4555
$TCM_TEMP,19.70
$XPDR_PINGS,124
$24V_AH,23.9,47.003
$10V_AH,10.0,30.236
$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,33.025,30.900,315.700,133.000,0.000,40.218,41.689,238.979,31.000,0.000,3108.000,15.951,405.487,1053.837,529.797,422.665,550.151,33.332,802.980,0.000,401.260,0.000,0.934
$DEVICE_MAMPS,213.993,72.865,635.843,563.745,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,140.412,0.000,0.000,0.000,0.000,0.000,0.000,3108.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,32.963,51.000
$DATA_FILE_SIZE,6439,215
$CFSIZE,260034560,248107008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,230226,4743.018,-12250.863,9,1.7,13,18.3