version: 66.01
glider: 112
mission: 3
dive: 14
start: 8 29 107 7 4 34
data:
$ID,112
$MISSION,3
$DIVE,14
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$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,65
$T_MISSION,80
$T_ABORT,1440
$T_TURN,300
$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,51502
$NAV_MODE,0
$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,-26981.197
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,0.2
$RAFOS_CORR_THRESH,80
$RAFOS_HIT_WINDOW,5400
$PITCH_MIN,679
$PITCH_MAX,3252
$C_PITCH,2675
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,65
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,168
$ROLL_MAX,3823
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,8
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.059999999
$VBD_MIN,289
$VBD_MAX,3753
$C_VBD,2787
$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,-3.8012359
$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
$GPS1,065938,4806.583,-12222.635,33,1.1,33,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-48.1
$GPS2,070339,4806.572,-12222.620,13,1.2,13,18.3
$SPEED_LIMITS,0.133,0.201
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.126,-0.157
$KALMAN_X,-1022.1,-181.3,75.2,3058.3,-28.3
$KALMAN_Y,923.7,123.1,-136.6,-3359.2,-8.5
$MHEAD_RNG_PITCHd_Wd,125.8,1308,-17.4,-7.692
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-1.07,-146.6,0.0,0.0,0,91,0.00,0.00,-70.85,0.000,2,0.000,0.000,678,1991,2182
$GC,93,-1.07,-146.6,3.1,-4.0,14,159,17.40,2.92,-39.15,0.000,4,0.287,0.073,2437,592,3386
$GC,495,-1.00,-146.6,51.4,-14.4,67,501,0.00,2.75,0.00,0.000,6,0.000,0.040,2436,2018,3387
$GC,820,-0.94,-146.6,95.0,-13.2,98,825,0.15,2.90,0.00,0.000,4,0.147,0.064,2462,587,3387
$STATE,902,end dive,TARGET_DEPTH_EXCEEDED
$STATE,902,begin apogee
$GC,908,-0.24,0.0,105.2,11.6,105,1035,0.93,0.00,121.05,0.696,6,0.134,0.000,2616,2200,2787
$STATE,1035,end apogee,CONTROL_FINISHED_OK
$STATE,1035,begin climb
$GC,1037,1.07,146.6,110.1,0.0,118,1169,1.58,3.42,122.50,0.678,4,0.087,0.114,2904,3608,2189
$GC,1297,0.91,146.6,84.8,13.5,142,1304,0.20,2.80,0.00,0.000,6,0.155,0.035,2877,2193,2189
$GC,1622,0.84,146.6,50.7,10.2,173,1627,0.00,3.03,0.00,0.000,4,0.000,0.091,2877,792,2188
$GC,1648,0.76,146.6,47.9,10.7,175,1654,0.22,2.78,0.00,0.000,6,0.127,0.048,2842,2186,2188
$GC,1845,0.76,149.0,32.0,7.6,193,1846,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2186,2188
$GC,2038,0.79,164.5,17.2,7.1,214,2054,0.00,0.00,13.55,0.705,6,0.000,0.000,2841,2186,2116
$GC,2120,0.79,165.7,11.1,7.6,229,2125,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2186,2116
$GC,2193,0.81,180.3,5.9,7.2,242,2213,0.00,3.33,12.25,0.696,4,0.000,0.114,2842,3611,2051
$GC,2224,0.95,238.4,4.1,5.7,248,2271,0.20,2.80,38.50,0.663,6,0.047,0.035,2886,2166,1815
$STATE,2314,end climb,SURFACE_DEPTH_REACHED
$STATE,2314,begin surface coast
$FINISH,1.0,1.019050
$STATE,2489,end surface coast,CONTROL_FINISHED_OK
$STATE,2489,begin surface
$SM_CCo,2507,68.28,0.641,0,0,1359,350.04
$SM_GC,1.94,0.00,0.00,68.28,0.000,0.000,0.641,681,1987,1359,-9.17,-0.37,350.04
$RAFOS_CLK,106
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4751.72,-12223.57,290807,101009
$TT8_MAMPS,0.023777
$HUMID,2097
$INTERNAL_PRESSURE,10.5863
$TCM_TEMP,12.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.9
$24V_AH,20.8,1.563
$10V_AH,10.9,0.362
$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,31.925,30.300,307.850,68.275,0.000,37.339,55.102,75.797,0.250,15.267,462.875,1341.950,499.770,323.106,208.846,33.317,782.318,0.000,313.887,0.000,2.557
$DEVICE_MAMPS,286.858,113.516,704.873,641.212,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,20.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,204.928,209.133,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9592,296
$CFSIZE,260165632,257073152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1489.1
$GPS,290807,074821,4806.509,-12222.314,12,1.3,12,18.3