version: 66.02
glider: 116
mission: 6
dive: 111
start: 10 1 107 2 49 7
data:
$ID,116
$MISSION,6
$DIVE,111
$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,-31629.873
$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,17
$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
$GPS1,024138,4738.907,-12253.400,26,1.5,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-64.0
$GPS2,024757,4738.979,-12253.234,14,1.7,14,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.116,-0.134
$KALMAN_X,10301.2,165.8,43.0,-10365.0,156.9
$KALMAN_Y,9002.3,107.6,-21.4,-8663.0,118.1
$MHEAD_RNG_PITCHd_Wd,202.5,241,-21.8,-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,27,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,31,-1.90,-72.3,0.0,0.0,0,116,0.00,0.00,-82.80,0.000,2,0.000,0.000,137,1012,3462
$GC,120,-1.99,-146.6,2.1,-1.5,14,151,15.23,0.00,-12.27,0.000,6,0.216,0.000,2466,1012,3879
$GC,217,-1.99,-146.6,10.5,-10.8,29,223,0.00,2.50,0.00,0.000,4,0.000,0.042,2466,2424,3881
$GC,474,-1.99,-146.6,36.0,-10.2,56,480,0.00,2.60,0.00,0.000,6,0.000,0.051,2466,995,3880
$GC,670,-1.99,-146.6,56.7,-10.7,72,674,0.00,2.53,0.00,0.000,4,0.000,0.041,2466,2417,3880
$GC,848,-1.99,-146.6,74.1,-9.6,85,852,0.00,2.58,0.00,0.000,6,0.000,0.051,2466,999,3880
$GC,1043,-1.99,-146.6,94.5,-10.2,100,1048,0.00,2.50,0.00,0.000,4,0.000,0.041,2466,2415,3880
$STATE,1101,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1101,begin apogee
$GC,1108,-0.42,0.0,100.6,10.1,104,1288,1.75,0.00,172.75,0.644,6,0.114,0.000,2807,2522,3282
$STATE,1289,end apogee,CONTROL_FINISHED_OK
$STATE,1289,begin climb
$GC,1292,1.99,146.6,102.1,0.0,119,1474,2.40,2.65,170.68,0.613,4,0.057,0.077,3342,3890,2683
$GC,1586,1.99,146.6,60.7,18.2,142,1593,0.00,2.47,0.00,0.000,6,0.000,0.038,3342,2500,2683
$GC,1782,1.99,146.6,29.7,15.7,158,1787,0.00,2.62,0.00,0.000,4,0.000,0.070,3342,3890,2683
$STATE,1945,end climb,SURFACE_DEPTH_REACHED
$STATE,1945,begin surface coast
$FINISH,0.1,1.006618
$STATE,1953,end surface coast,CONTROL_FINISHED_OK
$STATE,1953,begin surface
$SM_CCo,1988,111.50,0.566,0,0,1650,400.08
$SM_GC,0.69,0.00,0.00,111.50,0.000,0.000,0.566,136,1002,1650,-12.74,0.06,400.08
$IRIDIUM_FIX,4719.74,-12256.21,011007,050518
$TT8_MAMPS,0.069797
$HUMID,2118
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,19.70
$XPDR_PINGS,102
$24V_AH,23.9,28.204
$10V_AH,10.1,17.192
$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,34.200,25.950,343.425,111.500,0.000,37.423,49.791,158.024,26.000,13.060,2595.940,14.130,326.601,876.613,520.187,387.861,396.797,33.335,772.016,0.000,365.527,0.000,4.056
$DEVICE_MAMPS,216.294,76.700,644.280,566.046,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,116.193,0.000,0.000,0.000,0.000,0.000,0.000,2609.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3297,179
$CFSIZE,260034560,253784064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,032507,4738.893,-12253.287,13,2.0,23,18.3