version: 66.01
glider: 112
mission: 1
dive: 17
start: 7 21 107 20 29 28
data:
$ID,112
$MISSION,1
$DIVE,17
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,100
$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,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51814
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038775599
$HD_B,0.0138418
$HD_C,4.7289599e-05
$HEADING,-1
$ESCAPE_HEADING,145
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,1
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$FILEMGR,2
$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,-21397.959
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,0.2
$RAFOS_CORR_THRESH,80
$RAFOS_HIT_WINDOW,5400
$PITCH_MIN,679
$PITCH_MAX,3252
$C_PITCH,2235
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,100
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0.5
$ROLL_MIN,166
$ROLL_MAX,3791
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2720
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,486
$VBD_MAX,3897
$C_VBD,2800
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00167
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,75
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,80
$PRESSURE_YINT,-3.6470764
$PRESSURE_SLOPE,9.129227e-05
$AD7714Ch0Gain,64
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,2
$ALTIM_PING_DEPTH,400
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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,49
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,0
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043712994
$SEABIRD_T_H,0.00064806995
$SEABIRD_T_I,2.9318924e-05
$SEABIRD_T_J,3.4945006e-06
$SEABIRD_C_G,-10.125542
$SEABIRD_C_H,1.1422628
$SEABIRD_C_I,-0.00066794927
$SEABIRD_C_J,0.00014236888
$GPS1,202338,3635.230,-12204.952,6,1.8,11,14.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-49.3
$GPS2,202821,3635.110,-12204.944,31,1.8,31,14.7
$SPEED_LIMITS,0.173,0.222
$TGT_NAME,RESCUE
$TGT_LATLONG,3645.000,-12202.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.066,0.212
$KALMAN_X,-161.0,11106.4,144.2,-19740.5,-1478.8
$KALMAN_Y,-10945.0,-6319.0,-407.9,-3760.6,-560.0
$MHEAD_RNG_PITCHd_Wd,2.6,18831,-20.5,-10.000
$D_GRID,751
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.12,-155.7,0.0,0.0,0,72,0.00,0.00,-43.97,0.000,2,0.000,0.000,677,2312,2577
$GC,75,-1.12,-155.7,3.2,-5.7,9,117,10.85,2.88,-23.05,0.000,4,0.240,0.070,1988,900,3437
$GC,207,-1.12,-155.7,20.1,-14.9,33,213,0.00,2.70,0.00,0.000,6,0.000,0.038,1988,2297,3439
$GC,551,-1.12,-155.7,69.4,-14.0,94,556,0.00,2.80,0.00,0.000,4,0.000,0.058,1988,898,3440
$GC,585,-1.12,-155.7,74.3,-14.4,100,590,0.00,2.70,0.00,0.000,6,0.000,0.040,1988,2301,3440
$GC,928,-1.12,-155.7,119.4,-13.1,161,934,0.00,3.12,0.00,0.000,4,0.000,0.105,1988,3708,3440
$GC,973,-1.12,-155.7,125.3,-13.0,169,979,0.00,2.70,0.00,0.000,6,0.000,0.038,1988,2295,3440
$STATE,1173,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1173,begin apogee
$GC,1182,-0.21,0.0,150.4,11.7,205,1319,1.10,0.00,131.73,0.737,6,0.120,0.000,2184,2727,2800
$STATE,1322,end apogee,CONTROL_FINISHED_OK
$STATE,1322,begin climb
$GC,1325,1.12,155.7,154.7,0.0,232,1467,1.52,2.53,131.48,0.715,4,0.071,0.107,2476,3780,2164
$GC,1656,1.12,155.7,131.4,10.3,293,1661,0.00,2.10,0.00,0.000,6,0.000,0.037,2476,2709,2164
$GC,1999,1.16,181.9,100.7,8.8,354,2025,0.00,0.00,21.38,0.736,6,0.000,0.000,2476,2708,2058
$GC,2362,1.23,225.4,69.6,8.1,419,2404,0.12,2.45,35.58,0.721,4,0.062,0.088,2503,3777,1880
$GC,2472,1.23,225.4,58.2,11.8,439,2478,0.00,2.08,0.00,0.000,6,0.000,0.038,2503,2710,1880
$GC,2817,1.23,225.4,20.0,11.9,500,2823,0.00,2.97,0.00,0.000,4,0.000,0.087,2503,1319,1879
$STATE,2989,end climb,SURFACE_DEPTH_REACHED
$STATE,2991,begin surface coast
$FINISH,1.2,1.011622
$STATE,3018,end surface coast,CONTROL_FINISHED_OK
$STATE,3018,begin surface
$SM_CCo,3041,73.40,0.648,0,0,1372,350.04
$SM_GC,2.09,0.00,0.00,73.40,0.000,0.000,0.648,671,2311,1372,-7.19,0.31,350.04
$RAFOS_CLK,177
$RAFOS,5,1185051241,20.916666,20.900278,49,47,46,0,0,0,897,538,63,0,0,0
$RAFOS,4,1185050643,20.750000,20.734167,49,42,41,0,0,0,524,64,645,0,0,0
$RAFOS,3,1185050046,20.583334,20.568333,50,47,41,0,0,0,178,1038,1119,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,3624.24,-12203.17,220707,000006
$TT8_MAMPS,0.026078
$HUMID,2212
$INTERNAL_PRESSURE,10.811
$TCM_TEMP,11.00
$XPDR_PINGS,1
$ALTIM_TOP_PING,20.0,19.0
$24V_AH,20.7,21.246
$10V_AH,9.9,7.791
$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,22.675,31.875,320.150,73.400,0.000,0.000,0.000,0.000,0.500,32.955,767.046,1400.770,457.141,500.564,105.803,33.318,856.340,0.000,469.912,1080.000,2.560
$DEVICE_MAMPS,240.071,107.380,737.087,648.115,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,20.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,368.525,399.393,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,18996,536
$CFSIZE,260165632,255283200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1488.9
$GPS,210707,212235,3634.739,-12204.929,7,5.4,26,14.7