version: 66.01
glider: 111
mission: 1
dive: 14
start: 7 11 107 7 1 27
data:
$ID,111
$MISSION,1
$DIVE,14
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$D_NO_BLEED,500
$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,50
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,145
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51339
$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,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$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,-88948.531
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,722
$PITCH_MAX,3310
$C_PITCH,2220
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,120
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,171
$ROLL_MAX,3808
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,599
$VBD_MAX,3942
$C_VBD,3345
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0020000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-2.6466722
$PRESSURE_SLOPE,9.0714857e-05
$AD7714Ch0Gain,64
$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,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,4
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043273787
$SEABIRD_T_H,0.0006414231
$SEABIRD_T_I,2.3931538e-05
$SEABIRD_T_J,2.340664e-06
$SEABIRD_C_G,-10.258962
$SEABIRD_C_H,1.1819305
$SEABIRD_C_I,-0.0037964056
$SEABIRD_C_J,0.00031207138
$GPS1,065639,4804.665,-12220.549,14,1.4,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-64.2
$GPS2,070027,4804.670,-12220.568,13,1.7,13,18.3
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,FOUR
$TGT_LATLONG,4804.000,-12220.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.123,-0.224
$KALMAN_X,-1173.6,-119.1,-125.1,3882.9,-86.6
$KALMAN_Y,1671.6,105.2,-22.5,-5062.3,167.1
$MHEAD_RNG_PITCHd_Wd,132.9,1427,-17.8,-10.000
$D_GRID,108
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.47,-141.7,0.0,0.0,0,93,0.00,0.00,-70.53,0.000,2,0.000,0.000,719,2493,3132
$GC,96,-1.47,-141.7,3.3,-7.2,14,133,8.25,2.45,-20.83,0.000,4,0.247,0.056,1892,1124,3924
$GC,368,-1.47,-141.7,51.1,-17.6,48,374,0.00,2.35,0.00,0.000,6,0.000,0.030,1892,2500,3924
$GC,501,-1.47,-141.7,74.2,-17.4,61,505,0.00,2.42,0.00,0.000,4,0.000,0.044,1892,1117,3925
$GC,518,-1.47,-141.7,77.2,-17.7,62,522,0.00,2.33,0.00,0.000,6,0.000,0.029,1892,2501,3925
$GC,650,-1.47,-141.7,99.1,-14.4,74,654,0.00,2.30,0.00,0.000,4,0.000,0.058,1893,3782,3925
$GC,694,-1.47,-141.7,106.8,-18.2,77,701,0.00,2.20,0.00,0.000,6,0.000,0.048,1892,2526,3925
$STATE,709,end dive,TARGET_DEPTH_EXCEEDED
$STATE,709,begin apogee
$GC,714,-0.33,0.0,109.6,17.6,79,832,1.40,0.00,112.15,0.685,6,0.166,0.000,2139,2708,3345
$STATE,833,end apogee,CONTROL_FINISHED_OK
$STATE,833,begin climb
$GC,835,1.47,141.7,115.0,0.0,91,951,1.92,1.92,108.65,0.664,4,0.094,0.049,2537,3780,2766
$GC,1086,1.47,141.7,80.7,19.4,114,1090,0.00,1.85,0.00,0.000,6,0.000,0.028,2537,2678,2766
$GC,1225,1.47,141.7,56.8,16.5,127,1228,0.00,1.98,0.00,0.000,4,0.000,0.048,2537,3787,2766
$GC,1353,1.47,141.7,35.2,16.8,138,1359,0.00,1.85,0.00,0.000,6,0.000,0.030,2537,2702,2766
$GC,1422,1.47,141.7,24.3,15.7,145,1426,0.00,1.92,0.00,0.000,4,0.000,0.048,2537,3785,2766
$GC,1614,1.47,449.9,5.4,-4.7,176,1738,0.00,1.83,117.53,0.607,2,0.000,0.028,2536,2680,2105
$STATE,1738,end climb,SURFACE_DEPTH_REACHED
$STATE,1738,begin surface coast
$FINISH,1.0,1.016394
$STATE,1744,end surface coast,CONTROL_FINISHED_OK
$STATE,1744,begin surface
$SM_CCo,1761,100.45,0.592,0,0,1306,500.17
$SM_GC,0.80,0.00,0.00,100.45,0.000,0.000,0.592,719,2491,1306,-6.90,-0.25,500.17
$IRIDIUM_FIX,4748.51,-12217.40,110707,101046
$TT8_MAMPS,0.024544
$HUMID,2282
$INTERNAL_PRESSURE,7.72491
$TCM_TEMP,20.20
$XPDR_PINGS,7
$24V_AH,23.6,1.696
$10V_AH,10.1,0.505
$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,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,20.150,25.925,338.325,100.450,0.000,32.772,54.738,65.941,1.750,13.414,318.068,708.380,463.936,405.838,220.115,33.349,748.144,0.000,400.838,0.000,0.475
$DEVICE_MAMPS,246.974,57.525,684.931,592.124,0.000,103.000,160.000,223.000,420.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,132.886,136.162,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6462,201
$CFSIZE,260165632,241340416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,110707,073335,4804.566,-12220.444,13,2.1,32,18.3