version: 66.02
glider: 116
mission: 6
dive: 265
start: 10 6 107 23 17 6
data:
$ID,116
$MISSION,6
$DIVE,265
$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,45
$T_MISSION,90
$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,-35145.781
$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,17
$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
$GPS1,225914,4743.424,-12250.689,12,1.7,30,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-59.3
$GPS2,231557,4743.541,-12250.508,15,1.8,15,18.3
$SPEED_LIMITS,0.193,0.216
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.097,-0.193
$KALMAN_X,32690.4,155.3,182.9,-29483.6,88.1
$KALMAN_Y,19300.2,265.0,193.5,-10886.9,110.0
$MHEAD_RNG_PITCHd_Wd,188.4,987,-13.3,-7.037
$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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,32,-1.27,-127.1,0.0,0.0,0,113,0.00,0.00,-78.00,0.000,2,0.000,0.000,133,1010,3288
$GC,117,-1.27,-127.1,2.2,-2.2,13,160,16.10,2.53,-18.05,0.000,4,0.212,0.052,2622,2412,3800
$GC,184,-1.27,-127.1,5.1,-4.5,23,191,0.00,2.58,0.00,0.000,6,0.000,0.048,2622,993,3801
$GC,258,-1.27,-127.1,10.3,-7.2,34,264,0.00,2.53,0.00,0.000,4,0.000,0.040,2623,2420,3802
$GC,339,-1.27,-127.1,13.9,-4.0,46,345,0.00,2.58,0.00,0.000,6,0.000,0.048,2622,999,3801
$GC,412,-1.27,-127.1,17.4,-4.8,57,418,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,999,3802
$GC,486,-1.27,-127.1,20.8,-4.6,67,490,0.00,2.50,0.00,0.000,4,0.000,0.039,2623,2419,3802
$GC,670,-1.27,-127.1,29.3,-4.5,80,676,0.00,2.58,0.00,0.000,6,0.000,0.048,2622,994,3802
$GC,866,-1.27,-127.1,38.9,-4.9,96,870,0.00,2.50,0.00,0.000,4,0.000,0.039,2622,2417,3802
$GC,1125,-1.27,-127.1,51.6,-4.6,115,1129,0.00,2.58,0.00,0.000,6,0.000,0.049,2622,993,3802
$GC,1321,-1.27,-127.1,60.9,-4.5,130,1326,0.00,2.50,0.00,0.000,4,0.000,0.039,2622,2417,3802
$GC,1542,-1.27,-127.1,71.5,-4.9,146,1547,0.00,2.58,0.00,0.000,6,0.000,0.049,2622,993,3802
$GC,1739,-1.27,-127.1,81.6,-4.9,161,1743,0.00,2.53,0.00,0.000,4,0.000,0.040,2623,2424,3802
$GC,1932,-1.27,-127.1,90.6,-4.3,175,1936,0.00,2.58,0.00,0.000,6,0.000,0.049,2622,1000,3802
$STATE,2024,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2024,begin apogee
$GC,2034,-0.42,0.0,95.1,4.8,182,2192,0.90,0.00,150.43,0.647,6,0.094,0.000,2808,2511,3281
$STATE,2193,end apogee,CONTROL_FINISHED_OK
$STATE,2193,begin climb
$GC,2196,1.27,127.1,96.1,0.0,195,2357,1.70,2.60,148.77,0.617,4,0.061,0.048,3184,1093,2761
$GC,2417,1.27,127.1,77.8,10.3,212,2423,0.00,2.55,0.00,0.000,6,0.000,0.040,3184,2517,2761
$GC,2613,1.27,127.1,58.6,10.1,228,2617,0.00,2.60,0.00,0.000,4,0.000,0.072,3184,3897,2761
$GC,2652,1.27,127.1,54.5,10.5,230,2658,0.00,2.45,0.00,0.000,6,0.000,0.037,3184,2496,2760
$GC,2848,1.27,127.1,34.9,10.0,246,2849,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2493,2761
$GC,3039,1.27,127.1,15.7,10.0,264,3044,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2493,2760
$GC,3112,1.27,127.1,8.5,9.1,275,3118,0.00,2.62,0.00,0.000,4,0.000,0.067,3184,3895,2760
$STATE,3182,end climb,SURFACE_DEPTH_REACHED
$STATE,3182,begin surface coast
$FINISH,0.7,1.022352
$STATE,3195,end surface coast,CONTROL_FINISHED_OK
$STATE,3196,begin surface
$SM_CCo,3231,120.15,0.573,0,0,1650,400.08
$SM_GC,1.23,0.00,0.00,120.15,0.000,0.000,0.573,136,1006,1650,-12.74,0.14,400.08
$IRIDIUM_FIX,4729.30,-12152.18,071007,030323
$TT8_MAMPS,0.067496
$HUMID,2121
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,19.60
$XPDR_PINGS,185
$24V_AH,23.9,44.829
$10V_AH,10.0,28.334
$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,32.350,51.350,299.200,120.150,0.000,117.792,196.192,377.291,46.500,0.000,4489.000,15.166,537.957,1754.527,527.477,584.538,974.720,33.350,880.361,0.000,562.837,0.000,2.497
$DEVICE_MAMPS,212.459,72.098,646.581,572.949,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,190.060,0.000,0.000,0.000,0.000,0.000,0.000,4489.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,21.848,51.000
$DATA_FILE_SIZE,6460,288
$CFSIZE,260034560,248942592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,001408,4743.332,-12250.651,30,1.4,31,18.3