version: 66.01
glider: 111
mission: 1
dive: 61
start: 7 12 107 12 45 30
data:
$ID,111
$MISSION,1
$DIVE,61
$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,2
$FERRY_MAX,45
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-90013.914
$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,55
$R_STBD_OVSHOOT,48
$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
$GPS1,123108,4806.182,-12222.216,11,1.4,28,18.3
$_CALLS,3
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-64.8
$GPS2,124426,4806.244,-12222.249,13,1.4,16,18.3
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,SIX_sb
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.086,-0.241
$KALMAN_X,-2223.1,88.5,138.8,2384.4,49.1
$KALMAN_Y,-2702.6,94.9,338.1,1875.5,173.7
$MHEAD_RNG_PITCHd_Wd,117.8,547,-20.2,-10.000
$D_GRID,107
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-1.57,-112.3,0.0,0.0,0,110,0.00,0.00,-85.75,0.000,2,0.000,0.000,724,2481,3673
$GC,113,-1.57,-141.7,4.0,-8.0,13,135,8.70,2.35,-5.43,0.000,4,0.271,0.066,1870,3776,3923
$GC,336,-1.63,-141.7,50.4,-19.6,38,343,0.00,2.20,0.00,0.000,6,0.000,0.045,1871,2532,3924
$GC,470,-1.63,-141.7,74.8,-17.8,51,471,0.00,0.00,0.00,0.000,6,0.000,0.000,1870,2529,3924
$GC,597,-1.63,-141.7,97.7,-17.7,63,602,0.00,2.53,0.00,0.000,4,0.000,0.045,1870,1094,3925
$GC,619,-1.63,-141.7,101.9,-18.4,64,626,0.00,2.35,0.00,0.000,6,0.000,0.028,1870,2495,3924
$STATE,655,end dive,TARGET_DEPTH_EXCEEDED
$STATE,655,begin apogee
$GC,661,-0.33,0.0,108.5,18.1,68,779,1.58,0.00,112.75,0.676,6,0.177,0.000,2140,2714,3345
$STATE,780,end apogee,CONTROL_FINISHED_OK
$STATE,780,begin climb
$GC,782,1.63,141.7,113.4,0.0,80,900,2.08,1.98,108.60,0.656,4,0.089,0.045,2572,3784,2767
$GC,1154,1.63,141.7,42.8,21.4,113,1158,0.00,1.85,0.00,0.000,6,0.000,0.028,2572,2686,2766
$GC,1289,1.63,141.7,16.3,19.0,127,1296,0.00,1.92,0.00,0.000,4,0.000,0.044,2572,3781,2765
$STATE,1362,end climb,SURFACE_DEPTH_REACHED
$STATE,1362,begin surface coast
$FINISH,0.7,1.015695
$STATE,1374,end surface coast,CONTROL_FINISHED_OK
$STATE,1374,begin surface
$SM_CCo,1394,181.98,0.592,0,0,1306,500.17
$SM_GC,0.83,0.00,0.00,181.98,0.000,0.000,0.592,725,2483,1306,-6.88,-0.48,500.17
$IRIDIUM_FIX,4748.51,-12223.57,120707,161641
$TT8_MAMPS,0.022243
$HUMID,2309
$INTERNAL_PRESSURE,7.72491
$TCM_TEMP,20.50
$XPDR_PINGS,0
$24V_AH,23.6,5.810
$10V_AH,10.1,1.414
$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,21.350,17.700,221.350,181.975,0.000,117.176,175.422,288.028,0.000,16.126,315.433,650.183,474.601,302.020,661.880,33.330,678.835,0.000,298.053,0.000,0.477
$DEVICE_MAMPS,270.751,65.962,676.494,592.124,0.000,103.000,160.000,223.000,420.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,93.340,102.276,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,3318,142
$CFSIZE,260165632,240381952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.041,222.0,1
$GPS,120707,131250,4806.108,-12222.099,13,2.0,30,18.3