version: 66.02
glider: 116
mission: 6
dive: 240
start: 10 5 107 21 35 48
data:
$ID,116
$MISSION,6
$DIVE,240
$D_SURF,2
$D_FLARE,2
$D_TGT,30
$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,10
$T_MISSION,30
$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,130
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$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,-34546.676
$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,14
$R_STBD_OVSHOOT,20
$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
$GPS1,212044,4743.576,-12250.746,13,1.4,30,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-66.0
$GPS2,213415,4743.587,-12250.708,18,1.5,18,18.3
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.110,-0.252
$KALMAN_X,29278.2,179.8,78.1,-26238.5,6.6
$KALMAN_Y,17876.4,111.8,-17.4,-9009.2,16.6
$MHEAD_RNG_PITCHd_Wd,185.3,49,-16.3,-10.000
$D_GRID,167
$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,27,begin dive
$GC,31,-1.52,-127.1,0.0,0.0,0,111,0.00,0.00,-77.68,0.000,2,0.000,0.000,136,996,3325
$GC,116,-1.52,-127.1,2.4,-4.7,13,153,15.40,1.62,-15.93,0.000,4,0.206,0.108,2572,163,3800
$GC,352,-1.52,-127.1,18.9,-6.4,49,358,0.00,1.50,0.00,0.000,6,0.000,0.044,2572,998,3801
$GC,423,-1.52,-127.1,23.0,-6.0,56,427,0.00,2.47,0.00,0.000,4,0.000,0.039,2572,2411,3801
$GC,496,-1.52,-127.1,27.2,-5.7,61,501,0.00,2.55,0.00,0.000,6,0.000,0.049,2572,999,3801
$STATE,550,end dive,TARGET_DEPTH_EXCEEDED
$STATE,551,begin apogee
$GC,561,-0.42,0.0,30.5,6.2,65,714,1.17,0.00,148.55,0.597,6,0.101,0.000,2808,2507,3281
$STATE,718,end apogee,CONTROL_FINISHED_OK
$STATE,718,begin climb
$GC,722,1.52,127.1,32.5,0.0,78,874,1.95,0.00,144.18,0.571,6,0.058,0.000,3234,2508,2762
$STATE,1057,end climb,SURFACE_DEPTH_REACHED
$STATE,1057,begin surface coast
$FINISH,0.6,1.004082
$STATE,1078,end surface coast,CONTROL_FINISHED_OK
$STATE,1078,begin surface
$SM_CCo,1114,119.28,0.548,0,0,1649,400.08
$SM_GC,1.00,0.00,0.00,119.28,0.000,0.000,0.548,133,996,1649,-12.75,-0.11,400.08
$IRIDIUM_FIX,4726.11,-12250.84,061007,010110
$TT8_MAMPS,0.067496
$HUMID,2098
$INTERNAL_PRESSURE,11.4946
$TCM_TEMP,19.80
$XPDR_PINGS,21
$24V_AH,24.0,41.958
$10V_AH,10.0,26.270
$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,32.775,13.675,292.725,119.275,0.000,118.458,199.222,204.794,5.250,0.000,2199.000,18.425,243.755,440.044,483.105,232.963,697.319,33.323,646.679,0.000,212.760,0.000,0.935
$DEVICE_MAMPS,205.556,108.147,597.493,547.638,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,77.384,0.000,0.000,0.000,0.000,0.000,0.000,2199.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,21.848,51.000
$DATA_FILE_SIZE,3304,121
$CFSIZE,260034560,249810944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,215735,4743.519,-12250.680,15,4.5,34,18.3