version: 66.01
glider: 112
mission: 2
dive: 40
start: 8 17 107 7 32 41
data:
$ID,112
$MISSION,2
$DIVE,40
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,250
$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,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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51558
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0049999999
$HD_B,0.015
$HD_C,5.5e-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,350
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-24024.547
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,0.2
$RAFOS_CORR_THRESH,80
$RAFOS_HIT_WINDOW,5400
$PITCH_MIN,679
$PITCH_MAX,3252
$C_PITCH,2334
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22.9
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,75
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.1
$PITCH_ADJ_DBAND,0.5
$ROLL_MIN,168
$ROLL_MAX,3823
$C_ROLL_DIVE,2156
$C_ROLL_CLIMB,2417
$HEAD_ERRBAND,9
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,486
$VBD_MAX,3897
$C_VBD,2664
$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,-2.7642801
$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,0
$ALTIM_PING_DELTA,0
$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
$GPS1,072707,4806.018,-12221.968,10,1.3,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-50.3
$GPS2,073145,4806.041,-12221.986,13,1.3,13,18.3
$SPEED_LIMITS,0.173,0.217
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.120,0.181
$KALMAN_X,1396.5,-53.3,62.6,884.6,13.5
$KALMAN_Y,1322.4,206.2,1.6,-5706.0,-33.8
$MHEAD_RNG_PITCHd_Wd,308.2,4401,-21.9,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-1.20,-146.6,0.0,0.0,0,58,0.00,0.00,-30.00,0.000,2,0.000,0.000,680,2142,2049
$GC,61,-1.20,-146.6,3.2,-3.3,6,133,13.80,3.08,-47.72,0.000,4,0.282,0.081,2067,3561,3263
$GC,235,-0.56,-146.6,17.8,-11.6,38,241,1.00,2.75,0.00,0.000,6,0.181,0.034,2207,2139,3265
$GC,308,-1.38,-146.6,22.7,-5.7,47,314,0.82,3.00,0.00,0.000,4,0.031,0.069,2028,3559,3266
$GC,566,-0.48,-146.6,58.7,-15.2,69,573,1.38,2.70,0.00,0.000,6,0.180,0.032,2224,2148,3267
$GC,894,-1.59,-146.6,74.5,-4.3,100,904,1.12,2.97,0.00,0.000,4,0.033,0.070,1980,3568,3267
$GC,1042,-0.35,-146.6,96.7,-16.4,113,1052,1.85,2.65,0.00,0.000,6,0.175,0.033,2251,2179,3267
$STATE,1304,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1305,begin apogee
$GC,1315,-0.22,0.0,108.4,4.3,138,1441,0.15,0.00,123.75,0.715,6,0.087,0.000,2281,2432,2664
$STATE,1442,end apogee,CONTROL_FINISHED_OK
$STATE,1442,begin climb
$GC,1445,1.20,146.6,111.0,0.0,151,1578,1.73,3.12,122.93,0.696,4,0.084,0.072,2596,1019,2065
$GC,1836,0.58,146.6,54.5,16.1,186,1842,0.82,2.80,0.00,0.000,6,0.127,0.048,2465,2411,2064
$GC,2161,1.37,208.5,29.0,7.2,217,2216,0.82,0.00,50.28,0.690,6,0.033,0.000,2643,2411,1813
$STATE,2343,end climb,SURFACE_DEPTH_REACHED
$STATE,2344,begin surface coast
$FINISH,1.7,1.018531
$STATE,2388,end surface coast,CONTROL_FINISHED_OK
$STATE,2388,begin surface
$SM_CCo,2411,84.88,0.633,0,0,1236,350.04
$SM_GC,3.07,0.00,0.00,84.88,0.000,0.000,0.633,683,2129,1236,-7.59,-0.76,350.04
$RAFOS_CLK,103
$RAFOS,0,1187337842,8.083333,8.067223,44,43,39,0,0,0,32,80,571,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12221.84,170807,101041
$TT8_MAMPS,0.024544
$HUMID,2077
$INTERNAL_PRESSURE,11.3188
$TCM_TEMP,10.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,17.5
$24V_AH,20.8,28.491
$10V_AH,10.0,9.846
$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,33.900,24.150,296.950,84.875,0.000,37.060,46.282,91.546,0.250,15.447,435.130,1289.190,472.464,301.747,291.436,33.339,733.211,0.000,292.697,360.000,2.556
$DEVICE_MAMPS,282.256,80.535,714.844,632.775,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,20.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,176.253,181.090,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9593,253
$CFSIZE,260165632,254484480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$SOUNDSPEED,1487.4
$GPS,170807,081529,4806.169,-12221.883,8,2.8,27,18.3