version: 66.01
glider: 112
mission: 1
dive: 11
start: 7 11 107 6 59 14
data:
$ID,112
$MISSION,1
$DIVE,11
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$D_NO_BLEED,200
$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,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,135
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51440
$NAV_MODE,1
$FERRY_MAX,0
$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,500
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-18116.264
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,0.2
$RAFOS_CORR_THRESH,80
$RAFOS_HIT_WINDOW,5400
$PITCH_MIN,679
$PITCH_MAX,3252
$C_PITCH,2269
$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
$ROLL_MIN,166
$ROLL_MAX,3791
$C_ROLL_DIVE,2060
$C_ROLL_CLIMB,1870
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,486
$VBD_MAX,3897
$C_VBD,3335
$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,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,80
$PRESSURE_YINT,-3.7066903
$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,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043805656
$SEABIRD_T_H,0.00064742006
$SEABIRD_T_I,2.5554549e-05
$SEABIRD_T_J,2.6681391e-06
$SEABIRD_C_G,-10.331019
$SEABIRD_C_H,1.1763502
$SEABIRD_C_I,-0.0012340198
$SEABIRD_C_J,0.00017379176
$GPS1,065209,4807.263,-12223.149,8,1.5,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-50.3
$GPS2,065815,4807.234,-12223.103,13,1.5,13,18.3
$SPEED_LIMITS,0.173,0.206
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.139,0.152
$KALMAN_X,85.0,11.2,2.5,-737.1,31.6
$KALMAN_Y,-778.0,-282.4,-16.8,2083.0,15.1
$MHEAD_RNG_PITCHd_Wd,299.1,1801,-22.4,-10.000
$D_GRID,105
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-1.15,-132.0,0.0,0.0,0,110,0.00,0.00,-79.15,0.000,2,0.000,0.000,678,2095,2819
$GC,113,-1.15,-132.0,3.2,-5.2,16,165,11.27,3.03,-33.40,0.000,4,0.245,0.074,2013,641,3874
$GC,178,-1.15,-132.0,5.7,-7.5,28,183,0.00,2.72,0.00,0.000,6,0.000,0.035,2012,2061,3875
$GC,251,-1.15,-132.0,13.4,-11.3,41,257,0.00,2.92,0.00,0.000,4,0.000,0.071,2013,3466,3876
$GC,331,-1.15,-132.0,23.1,-12.9,53,336,0.00,2.72,0.00,0.000,6,0.000,0.035,2013,2048,3876
$GC,401,-1.15,-132.0,31.8,-12.4,59,402,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,2048,3877
$GC,464,-1.15,-132.0,40.1,-12.9,65,465,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,2048,3877
$GC,592,-1.15,-132.0,56.8,-13.2,77,596,0.00,2.97,0.00,0.000,4,0.000,0.071,2013,3462,3877
$GC,658,-1.15,-132.0,65.8,-13.4,82,664,0.00,2.70,0.00,0.000,6,0.000,0.037,2013,2056,3877
$GC,791,-1.15,-132.0,82.8,-12.6,95,796,0.00,2.92,0.00,0.000,4,0.000,0.072,2013,3459,3877
$GC,830,-1.15,-132.0,87.9,-13.0,98,835,0.00,2.70,0.00,0.000,6,0.000,0.038,2013,2059,3878
$GC,964,-1.15,-132.0,104.4,-11.4,110,967,0.00,1.65,0.00,0.000,3,0.000,0.058,2013,2895,3878
$STATE,968,end dive,TARGET_DEPTH_EXCEEDED
$STATE,968,begin apogee
$GC,977,-0.21,0.0,105.0,10.9,110,1094,1.25,0.00,112.22,0.676,6,0.145,0.000,2218,1872,3335
$STATE,1094,end apogee,CONTROL_FINISHED_OK
$STATE,1094,begin climb
$GC,1098,1.15,132.0,109.6,0.0,122,1220,1.58,3.22,111.85,0.660,4,0.074,0.096,2518,468,2796
$GC,1288,1.15,132.0,93.4,14.4,140,1292,0.00,2.83,0.00,0.000,6,0.000,0.046,2518,1864,2795
$GC,1421,1.15,132.0,76.1,12.8,152,1426,0.00,3.15,0.00,0.000,4,0.000,0.094,2518,3277,2795
$GC,1532,1.15,132.0,61.4,12.7,161,1538,0.00,2.83,0.00,0.000,6,0.000,0.047,2518,1875,2794
$GC,1666,1.15,132.0,45.7,11.5,174,1671,0.00,2.95,0.00,0.000,4,0.000,0.066,2518,3286,2794
$GC,1750,1.15,132.0,35.9,11.5,181,1755,0.00,2.85,0.00,0.000,6,0.000,0.049,2518,1865,2794
$GC,1820,1.15,132.0,28.0,11.3,187,1821,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,1864,2793
$GC,1883,1.15,132.0,21.2,10.7,193,1884,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,1864,2793
$GC,1951,1.15,132.0,14.2,11.1,203,1956,0.00,2.95,0.00,0.000,4,0.000,0.065,2518,3287,2793
$GC,2007,1.15,132.0,8.0,10.2,213,2013,0.00,2.83,0.00,0.000,6,0.000,0.047,2518,1869,2793
$GC,2081,1.15,275.0,3.3,2.5,226,2188,0.00,2.97,100.20,0.634,4,0.000,0.058,2518,3282,2212
$GC,2195,1.39,431.7,2.8,1.8,248,2223,0.28,2.88,21.02,0.617,2,0.044,0.041,2575,1864,2058
$STATE,2223,end climb,SURFACE_DEPTH_REACHED
$STATE,2224,begin surface coast
$FINISH,1.1,1.017590
$STATE,2289,end surface coast,CONTROL_FINISHED_OK
$STATE,2289,begin surface
$SM_CCo,2311,107.28,0.591,0,0,1295,500.17
$SM_GC,1.87,0.00,0.00,107.28,0.000,0.000,0.591,675,2087,1295,-7.33,0.74,500.17
$RAFOS_CLK,103
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12226.29,110707,101029
$TT8_MAMPS,0.024544
$HUMID,2047
$INTERNAL_PRESSURE,10.4203
$TCM_TEMP,10.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.0,17.9
$24V_AH,20.8,14.745
$10V_AH,10.0,5.996
$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,24.150,56.250,345.300,107.275,0.000,38.902,37.040,160.684,0.500,14.689,437.727,1091.373,577.993,297.262,398.660,33.329,861.772,0.000,288.942,0.000,2.556
$DEVICE_MAMPS,244.673,95.875,675.727,590.590,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,20.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,185.555,182.673,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9600,265
$CFSIZE,260165632,256471040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1486.7
$GPS,110707,074047,4807.369,-12223.297,10,4.7,29,18.3