version: 66.02
glider: 116
mission: 6
dive: 166
start: 10 3 107 3 6 3
data:
$ID,116
$MISSION,6
$DIVE,166
$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,-32857.398
$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,15
$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
$GPS1,025144,4739.820,-12252.545,8,1.7,13,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-66.7
$GPS2,030451,4739.879,-12252.679,15,1.8,15,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,11_XS
$TGT_LATLONG,4740.927,-12251.586
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.159,0.185
$KALMAN_X,28108.5,418.1,149.0,-27829.5,-134.8
$KALMAN_Y,22801.5,448.9,273.7,-21430.6,-89.1
$MHEAD_RNG_PITCHd_Wd,22.5,2371,-14.6,-8.333
$D_GRID,120
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-1.40,-146.6,0.0,0.0,0,116,0.00,0.00,-84.15,0.000,2,0.000,0.000,137,1015,3409
$GC,120,-1.40,-146.6,2.1,-4.8,14,157,15.77,2.50,-15.40,0.000,4,0.209,0.052,2594,2418,3879
$GC,389,-1.40,-146.6,18.3,-6.0,55,395,0.00,2.60,0.00,0.000,6,0.000,0.051,2594,992,3880
$GC,469,-1.40,-146.6,21.8,-4.4,64,473,0.00,2.58,0.00,0.000,4,0.000,0.041,2594,2415,3880
$GC,561,-1.40,-146.6,27.0,-6.1,70,567,0.00,2.58,0.00,0.000,6,0.000,0.051,2594,1001,3880
$GC,757,-1.40,-146.6,40.3,-6.9,86,761,0.00,2.50,0.00,0.000,4,0.000,0.041,2594,2415,3880
$GC,963,-1.40,-146.6,54.6,-7.2,101,967,0.00,2.60,0.00,0.000,6,0.000,0.051,2594,990,3880
$GC,1159,-1.40,-146.6,68.1,-6.6,116,1163,0.00,2.53,0.00,0.000,4,0.000,0.040,2594,2416,3880
$GC,1287,-1.40,-146.6,76.0,-6.2,125,1291,0.00,2.58,0.00,0.000,6,0.000,0.051,2594,999,3880
$GC,1490,-1.40,-146.6,89.2,-6.6,141,1494,0.00,2.53,0.00,0.000,4,0.000,0.041,2594,2424,3880
$GC,1597,-1.40,-146.6,96.0,-6.8,148,1603,0.00,2.60,0.00,0.000,6,0.000,0.051,2594,996,3880
$STATE,1664,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1665,begin apogee
$GC,1674,-0.42,0.0,100.6,6.6,154,1853,1.05,0.00,172.70,0.649,6,0.096,0.000,2807,2510,3281
$STATE,1854,end apogee,CONTROL_FINISHED_OK
$STATE,1854,begin climb
$GC,1857,1.40,146.6,103.4,0.0,169,2042,1.85,2.62,171.73,0.617,4,0.060,0.050,3211,1093,2683
$GC,2061,1.40,146.6,87.2,10.4,185,2068,0.00,2.55,0.00,0.000,6,0.000,0.041,3211,2512,2683
$GC,2257,1.40,146.6,65.8,11.0,201,2261,0.00,2.58,0.00,0.000,4,0.000,0.048,3210,1086,2682
$GC,2312,1.40,146.6,59.9,11.2,205,2316,0.00,2.55,0.00,0.000,6,0.000,0.041,3211,2511,2682
$GC,2508,1.40,146.6,36.8,11.9,220,2512,0.00,2.60,0.00,0.000,4,0.000,0.073,3210,3890,2682
$GC,2554,1.40,146.6,30.8,13.0,223,2558,0.00,2.45,0.00,0.000,6,0.000,0.038,3210,2494,2682
$GC,2754,1.40,146.6,8.2,10.5,246,2760,0.00,2.62,0.00,0.000,4,0.000,0.068,3210,3890,2682
$STATE,2824,end climb,SURFACE_DEPTH_REACHED
$STATE,2824,begin surface coast
$FINISH,0.2,1.021539
$STATE,2851,end surface coast,CONTROL_FINISHED_OK
$STATE,2851,begin surface
$SM_CCo,2887,111.00,0.574,0,0,1649,400.08
$SM_GC,0.81,0.00,0.00,111.00,0.000,0.000,0.574,134,1010,1649,-12.75,0.28,400.08
$IRIDIUM_FIX,1238.83,15628.06,031007,060640
$TT8_MAMPS,0.066729
$HUMID,2126
$INTERNAL_PRESSURE,11.4653
$TCM_TEMP,19.60
$XPDR_PINGS,175
$24V_AH,23.8,34.034
$10V_AH,10.1,20.965
$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,32.600,51.575,344.425,111.000,0.000,121.719,183.811,212.005,44.250,29.050,3835.950,15.803,478.162,1545.004,550.941,513.534,726.655,33.337,868.886,0.000,489.936,0.000,4.057
$DEVICE_MAMPS,208.624,72.865,648.882,573.716,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,171.627,0.000,0.000,0.000,0.000,0.000,0.000,3865.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6453,261
$CFSIZE,260034560,252080128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031007,035651,4740.080,-12252.447,11,1.8,12,18.3