version: 66.01
glider: 112
mission: 2
dive: 74
start: 8 18 107 10 1 14
data:
$ID,112
$MISSION,2
$DIVE,74
$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,0
$FERRY_MAX,0
$KALMAN_USE,2
$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,-24718.379
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,0.2
$RAFOS_CORR_THRESH,80
$RAFOS_HIT_WINDOW,5400
$PITCH_MIN,679
$PITCH_MAX,3252
$C_PITCH,2340
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22.200001
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,75
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$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,17
$R_STBD_OVSHOOT,14
$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
$GPS1,095550,4806.146,-12222.069,5,1.7,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-50.3
$GPS2,100053,4806.169,-12222.062,14,3.7,33,18.3
$SPEED_LIMITS,0.173,0.217
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.121,-0.181
$KALMAN_X,-388.0,-274.5,-103.5,1777.5,-64.7
$KALMAN_Y,4697.1,464.7,11.9,-7433.8,82.3
$MHEAD_RNG_PITCHd_Wd,306.5,4152,-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,-1.23,-146.6,0.0,0.0,0,63,0.00,0.00,-34.80,0.000,2,0.000,0.000,683,2163,2158
$GC,66,-1.23,-146.6,3.1,-2.7,7,133,13.55,2.95,-43.55,0.000,4,0.278,0.065,2067,743,3263
$GC,386,-1.10,-146.6,39.3,-13.0,52,392,0.20,2.75,0.00,0.000,6,0.160,0.036,2095,2163,3266
$GC,584,-1.04,-146.6,60.1,-10.9,70,589,0.00,2.90,0.00,0.000,4,0.000,0.063,2095,744,3266
$GC,695,-0.98,-146.6,73.0,-11.1,79,702,0.20,2.72,0.00,0.000,6,0.164,0.037,2122,2164,3266
$GC,1023,-0.98,-146.6,103.4,-9.0,110,1028,0.00,3.08,0.00,0.000,4,0.000,0.101,2122,3559,3266
$GC,1044,-0.98,-146.6,105.7,-9.3,111,1050,0.00,2.67,0.00,0.000,6,0.000,0.035,2122,2162,3267
$STATE,1079,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1079,begin apogee
$GC,1087,-0.23,0.0,108.8,8.5,115,1215,0.95,0.00,123.97,0.692,6,0.130,0.000,2288,2425,2664
$STATE,1216,end apogee,CONTROL_FINISHED_OK
$STATE,1216,begin climb
$GC,1220,1.23,146.6,110.8,0.0,128,1356,1.73,3.17,123.50,0.676,4,0.084,0.073,2608,1018,2064
$GC,1406,1.09,146.6,87.0,16.7,146,1413,0.20,2.88,0.00,0.000,6,0.130,0.050,2579,2411,2064
$GC,1731,1.02,146.6,40.2,12.9,177,1736,0.00,3.20,0.00,0.000,4,0.000,0.107,2579,3819,2064
$GC,1771,0.92,146.6,34.8,13.8,180,1776,0.25,2.75,0.00,0.000,6,0.123,0.037,2541,2417,2063
$GC,1972,0.94,146.6,13.4,11.1,204,1976,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2416,2063
$GC,2045,1.11,214.4,8.4,6.9,217,2107,0.17,3.10,54.60,0.650,4,0.052,0.082,2582,3825,1789
$STATE,2133,end climb,SURFACE_DEPTH_REACHED
$STATE,2133,begin surface coast
$FINISH,1.6,1.019407
$STATE,2163,end surface coast,CONTROL_FINISHED_OK
$STATE,2163,begin surface
$SM_CCo,2187,80.65,0.607,0,0,1237,350.04
$SM_GC,3.43,0.00,0.00,80.65,0.000,0.000,0.607,682,2136,1237,-7.62,-0.57,350.04
$RAFOS_CLK,94
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12224.57,180807,131332
$TT8_MAMPS,0.024544
$HUMID,2058
$INTERNAL_PRESSURE,11.3286
$TCM_TEMP,11.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.0
$24V_AH,20.9,31.219
$10V_AH,10.0,10.549
$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,27.000,36.100,302.075,80.650,0.000,38.023,52.695,87.795,0.250,36.056,400.923,1124.719,481.270,285.378,296.395,0.000,722.610,0.000,259.953,0.000,2.556
$DEVICE_MAMPS,277.654,107.380,691.834,606.697,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,20.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,166.528,169.499,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9582,239
$CFSIZE,260165632,253726720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1488.7
$GPS,180807,104017,4806.310,-12222.349,10,3.1,29,18.3