version: 66.02
glider: 116
mission: 6
dive: 169
start: 10 3 107 6 12 26
data:
$ID,116
$MISSION,6
$DIVE,169
$D_SURF,2
$D_FLARE,2
$D_TGT,95
$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,-32954.062
$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,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
$GPS1,060433,4740.524,-12251.905,11,1.2,12,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-65.0
$GPS2,061117,4740.534,-12251.896,10,3.0,29,18.3
$SPEED_LIMITS,0.137,0.240
$TGT_NAME,11_XS
$TGT_LATLONG,4740.927,-12251.586
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.123,0.206
$KALMAN_X,28349.9,160.5,-159.2,-26537.6,-64.7
$KALMAN_Y,23268.7,298.1,-87.6,-20171.2,-62.9
$MHEAD_RNG_PITCHd_Wd,12.6,824,-13.9,-7.917
$D_GRID,100
$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,28,begin dive
$GC,31,-1.34,-146.6,0.0,0.0,0,116,0.00,0.00,-82.75,0.000,2,0.000,0.000,132,1005,3397
$GC,120,-1.34,-146.6,2.3,-4.7,14,157,16.10,0.00,-14.75,0.000,6,0.209,0.000,2610,1005,3878
$GC,223,-1.34,-146.6,10.2,-8.4,30,229,0.00,2.50,0.00,0.000,4,0.000,0.041,2610,2415,3879
$GC,336,-1.34,-146.6,18.8,-6.8,47,342,0.00,2.58,0.00,0.000,6,0.000,0.051,2610,1001,3879
$GC,406,-1.34,-146.6,23.0,-5.9,54,411,0.00,2.50,0.00,0.000,4,0.000,0.041,2610,2415,3879
$GC,618,-1.34,-146.6,35.7,-6.6,69,624,0.00,2.58,0.00,0.000,6,0.000,0.051,2610,999,3880
$GC,814,-1.34,-146.6,49.4,-6.7,85,818,0.00,2.50,0.00,0.000,4,0.000,0.040,2610,2416,3880
$GC,1071,-1.34,-146.6,64.2,-5.1,104,1076,0.00,2.58,0.00,0.000,6,0.000,0.052,2610,992,3880
$GC,1274,-1.34,-146.6,76.7,-6.4,120,1279,0.00,2.53,0.00,0.000,4,0.000,0.040,2610,2417,3880
$GC,1432,-1.34,-146.6,85.4,-5.7,131,1439,0.00,2.58,0.00,0.000,6,0.000,0.051,2610,996,3880
$STATE,1590,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1590,begin apogee
$GC,1599,-0.42,0.0,95.2,5.7,144,1778,0.98,0.00,172.68,0.644,6,0.091,0.000,2810,2520,3281
$STATE,1779,end apogee,CONTROL_FINISHED_OK
$STATE,1780,begin climb
$GC,1783,1.34,146.6,97.3,0.0,159,1964,1.75,2.65,171.32,0.614,4,0.061,0.050,3196,1086,2683
$GC,2017,1.34,146.6,77.3,11.2,178,2023,0.00,2.55,0.00,0.000,6,0.000,0.041,3196,2511,2683
$GC,2213,1.34,146.6,55.9,10.5,194,2218,0.00,2.60,0.00,0.000,4,0.000,0.074,3196,3889,2682
$GC,2312,1.34,146.6,44.5,11.1,201,2317,0.00,2.45,0.00,0.000,6,0.000,0.038,3196,2494,2682
$GC,2508,1.34,146.6,24.3,10.9,216,2512,0.00,2.62,0.00,0.000,4,0.000,0.069,3196,3893,2682
$GC,2554,1.34,146.6,19.0,11.6,220,2560,0.00,2.45,0.00,0.000,6,0.000,0.037,3196,2500,2682
$GC,2627,1.34,146.6,12.4,8.1,231,2633,0.00,2.50,0.00,0.000,4,0.000,0.051,3196,1107,2682
$GC,2660,1.34,146.7,9.8,7.9,236,2667,0.00,2.50,0.00,0.000,6,0.000,0.040,3196,2517,2682
$GC,2734,1.38,179.1,4.9,6.7,247,2758,0.00,0.00,21.75,0.612,6,0.000,0.000,3197,2517,2549
$STATE,2769,end climb,SURFACE_DEPTH_REACHED
$STATE,2769,begin surface coast
$FINISH,0.1,1.010069
$STATE,2797,end surface coast,CONTROL_FINISHED_OK
$STATE,2799,begin surface
$SM_CCo,2830,96.47,0.574,0,0,1650,400.08
$SM_GC,0.85,0.00,0.00,96.47,0.000,0.000,0.574,134,1008,1650,-12.75,0.23,400.08
$IRIDIUM_FIX,4722.92,-12251.79,031007,090959
$TT8_MAMPS,0.065962
$HUMID,2127
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,19.70
$XPDR_PINGS,165
$24V_AH,23.9,34.390
$10V_AH,10.1,21.203
$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,32.525,46.225,365.750,96.475,0.000,38.417,31.526,171.999,41.500,24.910,3428.090,30.395,464.639,1355.780,551.410,539.449,446.157,33.339,879.795,0.000,500.191,0.000,2.497
$DEVICE_MAMPS,208.624,73.632,644.280,573.716,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,168.104,0.000,0.000,0.000,0.000,0.000,0.000,3453.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6461,257
$CFSIZE,260034560,251985920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031007,070220,4740.771,-12251.568,12,1.2,29,18.3