version: 66.02
glider: 116
mission: 6
dive: 104
start: 9 30 107 20 39 49
data:
$ID,116
$MISSION,6
$DIVE,104
$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,-31472.803
$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
$GPS1,203235,4739.218,-12252.965,8,4.3,27,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-63.4
$GPS2,203839,4739.268,-12252.823,14,1.6,14,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.173,-0.172
$KALMAN_X,7720.3,336.8,317.7,-7717.5,117.6
$KALMAN_Y,6839.6,601.7,267.6,-6747.2,67.3
$MHEAD_RNG_PITCHd_Wd,206.7,978,-14.6,-8.333
$D_GRID,125
$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,27,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,31,-1.40,-146.6,0.0,0.0,0,112,0.00,0.00,-78.40,0.000,2,0.000,0.000,135,1016,3307
$GC,115,-1.40,-146.6,2.0,-4.3,13,159,15.73,2.50,-21.33,0.000,4,0.209,0.053,2593,2423,3878
$GC,285,-1.40,-146.6,10.2,-6.0,39,291,0.00,2.60,0.00,0.000,6,0.000,0.051,2593,996,3879
$GC,358,-1.40,-146.6,14.4,-5.8,50,364,0.00,2.53,0.00,0.000,4,0.000,0.042,2593,2418,3879
$GC,490,-1.40,-146.6,21.8,-6.2,68,494,0.00,2.58,0.00,0.000,6,0.000,0.051,2593,998,3879
$GC,692,-1.40,-146.6,34.0,-6.4,84,697,0.00,2.53,0.00,0.000,4,0.000,0.042,2593,2420,3879
$GC,837,-1.40,-146.6,43.5,-6.7,94,844,0.00,2.60,0.00,0.000,6,0.000,0.051,2593,991,3879
$GC,1033,-1.40,-146.6,56.7,-7.1,110,1037,0.00,2.53,0.00,0.000,4,0.000,0.042,2593,2414,3879
$GC,1168,-1.40,-146.6,65.4,-6.5,119,1174,0.00,2.58,0.00,0.000,6,0.000,0.052,2593,996,3879
$GC,1364,-1.40,-146.6,80.1,-7.7,135,1368,0.00,2.53,0.00,0.000,4,0.000,0.041,2593,2423,3879
$GC,1534,-1.40,-146.6,92.5,-6.9,147,1541,0.00,2.60,0.00,0.000,6,0.000,0.052,2593,997,3880
$STATE,1641,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1641,begin apogee
$GC,1650,-0.42,0.0,100.0,7.1,156,1830,1.05,0.00,173.25,0.649,6,0.097,0.000,2807,2509,3281
$STATE,1831,end apogee,CONTROL_FINISHED_OK
$STATE,1831,begin climb
$GC,1833,1.40,146.6,103.9,0.0,171,2017,1.85,0.00,171.35,0.621,6,0.061,0.000,3207,2509,2683
$GC,2203,1.40,146.6,70.9,10.7,201,2208,0.00,2.62,0.00,0.000,4,0.000,0.078,3207,3888,2682
$GC,2242,1.40,146.6,66.4,11.5,203,2249,0.00,2.47,0.00,0.000,6,0.000,0.039,3207,2485,2682
$GC,2438,1.40,146.6,45.1,10.9,219,2439,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2485,2682
$GC,2629,1.40,146.6,25.0,11.0,234,2634,0.00,2.65,0.00,0.000,4,0.000,0.072,3207,3890,2682
$GC,2695,1.40,146.6,17.2,11.7,240,2701,0.00,2.42,0.00,0.000,6,0.000,0.040,3208,2506,2684
$GC,2767,1.40,146.6,9.4,10.8,251,2773,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2505,2682
$STATE,2837,end climb,SURFACE_DEPTH_REACHED
$STATE,2837,begin surface coast
$FINISH,0.0,1.017767
$STATE,2853,end surface coast,CONTROL_FINISHED_OK
$STATE,2853,begin surface
$SM_CCo,2884,112.53,0.578,0,0,1650,400.08
$SM_GC,0.66,0.00,0.00,112.53,0.000,0.000,0.578,134,1011,1650,-12.75,0.31,400.08
$IRIDIUM_FIX,4719.74,-12251.79,300907,232317
$TT8_MAMPS,0.067496
$HUMID,2123
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,19.70
$XPDR_PINGS,178
$24V_AH,23.9,27.456
$10V_AH,10.1,16.730
$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,32.750,41.225,344.600,112.525,0.000,38.578,32.515,159.154,45.000,20.010,3473.990,14.089,475.576,1441.250,561.094,500.620,410.746,33.336,869.989,0.000,478.137,0.000,4.057
$DEVICE_MAMPS,208.624,78.234,648.882,578.318,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,173.359,0.000,0.000,0.000,0.000,0.000,0.000,3494.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6439,264
$CFSIZE,260034560,253972480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,213033,4739.149,-12253.043,11,1.3,11,18.3