version: 66.01
glider: 112
mission: 1
dive: 22
start: 7 22 107 2 44 52
data:
$ID,112
$MISSION,1
$DIVE,22
$D_SURF,2
$D_FLARE,3
$D_TGT,300
$D_ABORT,1090
$D_NO_BLEED,50
$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,70
$T_MISSION,85
$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,220
$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,-21561.332
$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,32
$R_STBD_OVSHOOT,9
$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
$GPS1,023635,3632.235,-12204.934,12,2.3,32,14.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-50.3
$GPS2,024344,3632.068,-12204.924,9,1.3,14,14.7
$SPEED_LIMITS,0.247,0.290
$TGT_NAME,RESCUE
$TGT_LATLONG,3645.000,-12202.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.160,0.242
$KALMAN_X,8541.1,-736.5,429.9,-16838.3,-632.8
$KALMAN_Y,-23971.4,-897.0,-512.5,-1698.9,-808.6
$MHEAD_RNG_PITCHd_Wd,18.7,24340,-23.4,-14.286
$D_GRID,1097
$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,-1.33,-214.1,0.0,0.0,0,72,0.00,0.00,-44.15,0.000,2,0.000,0.000,675,2278,2546
$GC,76,-1.33,-214.1,3.1,-4.8,9,123,10.85,2.85,-30.33,0.000,4,0.248,0.066,1935,908,3676
$GC,246,-1.33,-214.1,34.0,-21.9,40,252,0.00,2.72,0.00,0.000,6,0.000,0.039,1934,2309,3674
$GC,589,-1.33,-214.1,101.1,-19.1,101,595,0.00,2.80,0.00,0.000,4,0.000,0.054,1935,907,3680
$GC,709,-1.33,-214.1,124.7,-20.1,122,715,0.00,2.72,0.00,0.000,6,0.000,0.044,1935,2305,3681
$GC,1052,-1.33,-214.1,189.2,-17.7,183,1058,0.00,2.83,0.00,0.000,4,0.000,0.061,1935,905,3681
$GC,1120,-1.33,-214.1,201.3,-17.4,195,1125,0.00,2.78,0.00,0.000,6,0.000,0.051,1935,2308,3681
$GC,1447,-1.33,-214.1,258.0,-17.5,225,1452,0.00,2.88,0.00,0.000,4,0.000,0.070,1935,911,3681
$GC,1486,-1.33,-214.1,265.1,-17.1,228,1491,0.00,2.80,0.00,0.000,6,0.000,0.060,1935,2299,3681
$STATE,1691,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1691,begin apogee
$GC,1699,-0.21,0.0,301.2,17.1,247,1895,1.45,0.00,187.35,0.851,6,0.136,0.000,2183,2718,2800
$STATE,1896,end apogee,CONTROL_FINISHED_OK
$STATE,1896,begin climb
$GC,1899,1.33,214.1,309.8,0.0,267,2097,1.80,2.92,185.75,0.823,4,0.068,0.159,2523,3785,1927
$GC,2351,1.33,214.1,260.6,15.8,309,2355,0.00,2.08,0.00,0.000,6,0.000,0.039,2523,2734,1925
$GC,2678,1.33,214.1,212.2,15.2,339,2682,0.00,2.35,0.00,0.000,4,0.000,0.095,2523,3790,1924
$GC,2755,1.33,214.1,199.6,15.7,345,2761,0.00,2.10,0.00,0.000,6,0.000,0.040,2523,2716,1924
$GC,3098,1.34,217.2,149.6,14.1,406,3104,0.00,0.00,2.00,0.906,6,0.000,0.000,2523,2716,1913
$GC,3441,1.37,237.4,99.9,13.4,467,3462,0.00,0.00,16.25,0.792,6,0.000,0.000,2523,2716,1832
$GC,3799,1.38,241.9,48.8,14.1,531,3810,0.00,2.97,3.67,0.817,4,0.000,0.082,2523,1308,1812
$GC,4008,1.44,280.5,20.9,12.5,568,4045,0.12,2.85,30.85,0.726,6,0.064,0.056,2548,2731,1656
$STATE,4139,end climb,SURFACE_DEPTH_REACHED
$STATE,4139,begin surface coast
$FINISH,1.2,1.017873
$STATE,4151,end surface coast,CONTROL_FINISHED_OK
$STATE,4151,begin surface
$SM_CCo,4173,42.75,0.670,0,0,1372,350.04
$SM_GC,2.07,0.00,0.00,42.75,0.000,0.000,0.670,673,2273,1372,-7.19,-0.79,350.04
$RAFOS_CLK,196
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,3618.89,-12207.71,220707,050518
$TT8_MAMPS,0.025311
$HUMID,2276
$INTERNAL_PRESSURE,10.8012
$TCM_TEMP,11.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.5,17.8
$24V_AH,20.6,21.804
$10V_AH,9.9,7.976
$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,23.600,39.500,425.875,42.750,0.000,38.543,31.346,203.909,0.500,16.166,919.266,2148.085,541.266,583.744,475.224,33.333,1019.568,0.000,562.924,0.000,2.567
$DEVICE_MAMPS,247.741,158.769,905.827,669.591,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,20.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,410.896,448.206,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22100,594
$CFSIZE,260165632,255119360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1488.6
$GPS,220707,035603,3631.852,-12204.867,10,1.4,11,14.7