version: 66.02
glider: 116
mission: 6
dive: 297
start: 10 8 107 9 57 28
data:
$ID,116
$MISSION,6
$DIVE,297
$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,-35810.008
$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,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
$GPS1,094814,4743.071,-12250.664,14,1.7,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-64.7
$GPS2,095559,4743.041,-12250.697,13,2.9,32,18.3
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.275,0.006
$KALMAN_X,31072.7,-245.3,-180.4,-27331.1,7.4
$KALMAN_Y,25187.1,-510.4,-169.3,-16550.6,7.9
$MHEAD_RNG_PITCHd_Wd,253.0,150,-16.3,-10.000
$D_GRID,164
$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,32,begin dive
$GC,36,-1.52,-127.1,0.0,0.0,0,121,0.00,0.00,-82.75,0.000,2,0.000,0.000,133,1007,3206
$GC,126,-1.52,-127.1,2.2,-3.0,14,170,15.55,1.73,-23.38,0.000,4,0.208,0.110,2570,159,3801
$GC,217,-1.52,-127.1,6.4,-7.9,28,223,0.00,1.52,0.00,0.000,6,0.000,0.046,2570,1001,3802
$GC,290,-1.52,-127.1,12.6,-9.0,39,297,0.00,2.50,0.00,0.000,4,0.000,0.041,2570,2416,3802
$GC,548,-1.52,-127.1,29.7,-5.8,66,554,0.00,2.58,0.00,0.000,6,0.000,0.050,2570,994,3802
$GC,747,-1.52,-127.1,41.8,-6.0,82,751,0.00,2.50,0.00,0.000,4,0.000,0.039,2570,2413,3802
$GC,1005,-1.52,-127.1,57.3,-6.3,101,1010,0.00,2.58,0.00,0.000,6,0.000,0.051,2570,995,3802
$GC,1202,-1.52,-127.1,69.6,-6.5,116,1206,0.00,2.50,0.00,0.000,4,0.000,0.039,2570,2415,3802
$STATE,1357,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1357,begin apogee
$GC,1366,-0.42,0.0,79.3,5.3,127,1521,1.17,0.00,149.80,0.636,6,0.100,0.000,2807,2512,3281
$STATE,1525,end apogee,CONTROL_FINISHED_OK
$STATE,1525,begin climb
$GC,1529,1.52,127.1,79.7,0.0,140,1688,1.95,0.00,148.55,0.605,6,0.059,0.000,3233,2512,2761
$GC,1878,1.52,127.1,42.5,12.0,168,1879,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2512,2760
$GC,2068,1.52,127.1,21.1,10.4,183,2072,0.00,2.58,0.00,0.000,4,0.000,0.071,3232,3884,2760
$GC,2176,1.52,127.1,9.0,10.4,198,2183,0.00,2.45,0.00,0.000,6,0.000,0.037,3233,2487,2760
$GC,2250,1.54,149.5,2.0,9.1,209,2257,0.00,0.00,5.10,0.655,2,0.000,0.000,3233,2487,2725
$STATE,2258,end climb,SURFACE_DEPTH_REACHED
$STATE,2258,begin surface coast
$FINISH,0.8,1.011572
$STATE,2276,end surface coast,CONTROL_FINISHED_OK
$STATE,2276,begin surface
$SM_CCo,2313,138.40,0.565,0,0,1445,450.13
$SM_GC,1.43,0.00,0.00,138.40,0.000,0.000,0.565,137,1011,1445,-12.74,0.28,450.13
$IRIDIUM_FIX,4726.11,-12250.84,081007,121239
$TT8_MAMPS,0.066729
$HUMID,2129
$INTERNAL_PRESSURE,11.4653
$TCM_TEMP,19.70
$XPDR_PINGS,129
$24V_AH,23.9,48.379
$10V_AH,10.0,31.156
$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,32.675,23.825,303.450,138.400,0.000,38.883,41.807,195.066,32.250,0.000,3078.000,33.073,413.111,1067.592,539.935,436.463,506.307,33.322,794.646,0.000,397.410,0.000,0.935
$DEVICE_MAMPS,207.857,110.448,655.018,565.279,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,139.265,0.000,0.000,0.000,0.000,0.000,0.000,3078.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,32.963,51.000
$DATA_FILE_SIZE,6466,213
$CFSIZE,260034560,247726080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081007,103935,4743.083,-12251.029,15,3.2,34,18.3