version: 66.01
glider: 111
mission: 1
dive: 63
start: 7 12 107 13 52 23
data:
$ID,111
$MISSION,1
$DIVE,63
$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,-90065.648
$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,35
$R_STBD_OVSHOOT,44
$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
$GPS1,134653,4806.117,-12222.007,16,3.0,35,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-59.4
$GPS2,135120,4806.159,-12222.027,12,2.0,17,18.3
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,SIX_sb
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.043,-0.252
$KALMAN_X,-2454.9,178.3,195.1,2742.5,-76.8
$KALMAN_Y,-1628.8,121.1,102.6,851.5,407.2
$MHEAD_RNG_PITCHd_Wd,150.8,296,-27.2,-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,21,-1.94,-63.1,0.0,0.0,0,136,0.00,0.00,-112.30,0.000,6,0.000,0.000,722,2497,3605
$GC,139,-1.94,-99.7,3.4,-6.1,17,160,8.23,2.50,-3.72,0.000,4,0.274,0.054,1789,1103,3755
$GC,172,-2.02,-99.7,8.9,-14.4,22,180,0.00,2.38,0.00,0.000,6,0.000,0.027,1789,2501,3755
$GC,248,-2.02,-99.7,20.5,-16.4,35,252,0.00,2.30,0.00,0.000,4,0.000,0.054,1789,3780,3756
$GC,287,-2.02,-99.7,27.3,-17.8,38,291,0.00,2.25,0.00,0.000,6,0.000,0.047,1789,2506,3756
$GC,357,-2.02,-99.7,37.6,-13.2,44,358,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,2505,3757
$GC,420,-2.02,-99.7,47.6,-16.5,50,422,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,2505,3757
$GC,548,-2.02,-99.7,69.5,-17.3,62,552,0.00,2.30,0.00,0.000,4,0.000,0.051,1789,3783,3757
$GC,614,-2.02,-99.7,81.8,-18.0,67,621,0.00,2.28,0.00,0.000,6,0.000,0.047,1789,2501,3757
$GC,748,-2.02,-99.7,105.5,-18.0,80,752,0.00,2.30,0.00,0.000,4,0.000,0.051,1789,3783,3758
$STATE,764,end dive,TARGET_DEPTH_EXCEEDED
$STATE,764,begin apogee
$GC,772,-0.33,0.0,108.6,17.8,81,859,2.15,0.00,79.50,0.680,6,0.199,0.000,2141,2689,3345
$STATE,860,end apogee,CONTROL_FINISHED_OK
$STATE,860,begin climb
$GC,862,2.02,99.7,113.0,0.0,90,946,2.50,2.00,76.47,0.661,4,0.090,0.044,2656,3782,2938
$GC,1199,2.02,99.7,42.7,23.0,119,1206,0.00,1.85,0.00,0.000,6,0.000,0.027,2656,2679,2937
$GC,1334,2.02,99.7,15.4,18.9,134,1341,0.00,1.95,0.00,0.000,4,0.000,0.043,2656,3785,2937
$STATE,1412,end climb,SURFACE_DEPTH_REACHED
$STATE,1413,begin surface coast
$FINISH,2.0,1.016842
$STATE,1431,end surface coast,CONTROL_FINISHED_OK
$STATE,1431,begin surface
$SM_CCo,1434,281.15,0.576,0,0,599,673.59
$SM_GC,0.68,8.93,0.00,0.00,0.056,0.000,0.000,718,2508,588,-6.85,0.23,676.29
$IRIDIUM_FIX,4748.51,-12139.83,120707,171735
$TT8_MAMPS,0.02301
$HUMID,2369
$INTERNAL_PRESSURE,7.73467
$TCM_TEMP,20.50
$XPDR_PINGS,2
$24V_AH,23.6,5.983
$10V_AH,10.1,1.451
$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,21.800,26.325,155.975,281.150,0.000,37.414,31.725,103.976,0.500,17.086,349.555,654.110,556.679,303.599,256.218,33.327,762.375,0.000,299.434,0.000,0.476
$DEVICE_MAMPS,273.819,53.690,679.562,576.017,0.000,103.000,160.000,223.000,420.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,99.821,108.390,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,3316,151
$CFSIZE,260165632,240345088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.041,357.5,1
$GPS,120707,142353,4806.111,-12221.964,12,2.3,31,18.3