version: 66.02
glider: 116
mission: 6
dive: 61
start: 9 28 107 15 51 55
data:
$ID,116
$MISSION,6
$DIVE,61
$D_SURF,2
$D_FLARE,2
$D_TGT,100
$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,40
$T_MISSION,70
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$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,-30361.521
$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,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
$GPS1,153721,4738.835,-12253.205,15,1.4,15,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-63.9
$GPS2,155045,4738.845,-12253.185,17,1.4,17,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,S2
$TGT_LATLONG,4737.767,-12254.100
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.129,-0.207
$KALMAN_X,1634.1,357.7,-133.0,-1653.3,76.4
$KALMAN_Y,194.3,-2.2,-91.0,78.2,90.9
$MHEAD_RNG_PITCHd_Wd,193.5,2300,-14.6,-8.333
$D_GRID,136
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-1.40,-146.6,0.0,0.0,0,98,0.00,0.00,-66.60,0.000,2,0.000,0.000,136,1013,3116
$GC,102,-1.40,-146.6,2.1,-5.1,11,145,15.93,0.00,-23.62,0.000,6,0.213,0.000,2597,1012,3880
$GC,212,-1.40,-146.6,9.1,-6.9,28,218,0.00,2.47,0.00,0.000,4,0.000,0.042,2597,2416,3881
$GC,306,-1.40,-146.6,14.4,-5.2,42,312,0.00,2.58,0.00,0.000,6,0.000,0.051,2597,998,3881
$GC,379,-1.40,-146.6,18.8,-6.2,53,385,0.00,2.50,0.00,0.000,4,0.000,0.040,2597,2416,3881
$GC,524,-1.40,-146.6,27.3,-5.9,66,529,0.00,2.58,0.00,0.000,6,0.000,0.052,2597,999,3882
$GC,720,-1.40,-146.6,39.2,-6.4,81,724,0.00,2.50,0.00,0.000,4,0.000,0.041,2597,2415,3882
$GC,899,-1.40,-146.6,49.7,-5.8,94,903,0.00,2.58,0.00,0.000,6,0.000,0.052,2597,999,3881
$GC,1095,-1.40,-146.6,62.2,-6.7,109,1099,0.00,2.50,0.00,0.000,4,0.000,0.041,2597,2416,3882
$GC,1252,-1.40,-146.6,71.6,-6.0,120,1259,0.00,2.58,0.00,0.000,6,0.000,0.052,2597,999,3882
$GC,1449,-1.40,-146.6,84.4,-6.7,136,1453,0.00,2.50,0.00,0.000,4,0.000,0.041,2597,2416,3882
$GC,1556,-1.40,-146.6,91.7,-7.9,144,1561,0.00,2.58,0.00,0.000,6,0.000,0.052,2597,994,3882
$STATE,1656,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1656,begin apogee
$GC,1665,-0.42,0.0,100.1,8.1,152,1842,1.02,0.00,171.10,0.647,6,0.093,0.000,2807,2510,3281
$STATE,1843,end apogee,CONTROL_FINISHED_OK
$STATE,1843,begin climb
$GC,1846,1.40,146.6,105.8,0.0,167,2029,1.83,2.72,169.52,0.616,4,0.058,0.077,3208,3890,2683
$GC,2069,1.40,146.6,88.4,11.9,185,2074,0.00,2.47,0.00,0.000,6,0.000,0.040,3208,2496,2683
$GC,2265,1.40,146.6,65.6,12.0,200,2266,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2496,2683
$GC,2456,1.40,146.6,44.1,10.8,215,2460,0.00,2.65,0.00,0.000,4,0.000,0.074,3208,3889,2683
$GC,2507,1.40,146.6,37.8,11.9,218,2514,0.00,2.45,0.00,0.000,6,0.000,0.039,3208,2516,2683
$GC,2705,1.40,146.6,16.3,10.7,236,2711,0.00,2.55,0.00,0.000,4,0.000,0.056,3209,1106,2682
$GC,2744,1.40,146.6,12.4,10.1,242,2751,0.00,2.50,0.00,0.000,6,0.000,0.042,3208,2511,2682
$GC,2817,1.40,146.6,5.3,10.0,253,2822,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2512,2683
$STATE,2886,end climb,SURFACE_DEPTH_REACHED
$STATE,2886,begin surface coast
$FINISH,0.5,1.020373
$STATE,2940,end surface coast,CONTROL_FINISHED_OK
$STATE,2940,begin surface
$SM_CCo,2973,117.78,0.580,0,0,1649,400.08
$SM_GC,0.79,0.00,0.00,117.78,0.000,0.000,0.580,134,1009,1649,-12.75,0.25,400.08
$IRIDIUM_FIX,4722.92,-12249.11,280907,191901
$TT8_MAMPS,0.066729
$HUMID,2191
$INTERNAL_PRESSURE,11.5141
$TCM_TEMP,19.70
$XPDR_PINGS,147
$24V_AH,23.9,22.002
$10V_AH,10.1,12.766
$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,32.750,46.225,340.625,117.775,0.000,118.861,112.702,312.894,37.250,24.900,3979.100,17.158,497.380,1608.513,542.664,535.072,740.182,33.332,878.470,0.000,513.778,0.000,4.057
$DEVICE_MAMPS,213.226,76.700,646.581,579.852,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,178.849,0.000,0.000,0.000,0.000,0.000,0.000,4004.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6447,272
$CFSIZE,260034560,255451136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,164435,4738.748,-12253.207,11,4.8,31,18.3