version: 66.01
glider: 112
mission: 1
dive: 9
start: 7 21 107 9 49 46
data:
$ID,112
$MISSION,1
$DIVE,9
$D_SURF,2
$D_FLARE,3
$D_TGT,500
$D_ABORT,1090
$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,167
$T_MISSION,220
$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,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51814
$NAV_MODE,2
$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,-21034.279
$T_RSLEEP,10
$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,25
$R_STBD_OVSHOOT,19
$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,20
$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
$GPS1,094139,3642.493,-12203.663,12,1.4,12,14.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-46.8
$GPS2,094838,3642.448,-12203.659,9,1.7,14,14.8
$SPEED_LIMITS,0.173,0.222
$TGT_NAME,BRAVO
$TGT_LATLONG,3639.000,-12208.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.202,-0.092
$KALMAN_X,5925.9,-397.2,409.8,-12663.3,9154.2
$KALMAN_Y,-4707.9,923.6,43.3,-4131.6,694.4
$MHEAD_RNG_PITCHd_Wd,210.5,9076,-20.5,-9.980
$D_GRID,1267
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.11,-155.7,0.0,0.0,0,109,0.00,0.00,-81.85,0.000,2,0.000,0.000,674,3114,2663
$GC,113,-1.11,-155.7,3.1,-4.1,13,152,10.40,1.33,-21.83,0.000,4,0.224,0.114,1986,3702,3437
$GC,221,-1.11,-155.7,16.4,-15.1,31,227,0.00,2.70,0.00,0.000,6,0.000,0.034,1987,2297,3438
$GC,565,-1.11,-155.7,70.5,-13.8,92,571,0.00,2.88,0.00,0.000,4,0.000,0.073,1987,901,3373
$GC,612,-1.11,-155.7,77.2,-14.1,100,619,0.00,2.72,0.00,0.000,6,0.000,0.040,1987,2302,3439
$GC,956,-1.11,-155.7,126.2,-12.9,161,963,0.00,3.10,0.00,0.000,4,0.000,0.101,1987,3702,3439
$GC,987,-1.11,-155.7,130.5,-14.3,166,994,0.00,2.67,0.00,0.000,6,0.000,0.037,1987,2303,3439
$GC,1331,-1.11,-155.7,175.7,-14.0,227,1338,0.00,2.90,0.00,0.000,4,0.000,0.076,1987,895,3439
$GC,1389,-1.11,-155.7,184.0,-14.4,237,1397,0.00,2.75,0.00,0.000,6,0.000,0.048,1987,2304,3395
$GC,1722,-1.11,-155.7,229.5,-13.2,278,1727,0.00,3.25,0.00,0.000,4,0.000,0.122,1987,3707,3438
$GC,1751,-1.11,-155.7,233.1,-13.2,280,1755,0.00,2.72,0.00,0.000,6,0.000,0.043,1986,2305,3439
$GC,2079,-1.11,-155.7,273.4,-12.3,310,2084,0.00,3.17,0.00,0.000,4,0.000,0.108,1987,3709,3438
$GC,2112,-1.11,-155.7,278.4,-14.0,312,2119,0.00,2.78,0.00,0.000,6,0.000,0.048,1987,2297,3438
$GC,2441,-1.11,-155.7,319.3,-12.3,343,2446,0.00,3.20,0.00,0.000,4,0.000,0.111,1987,3705,3429
$GC,2473,-1.11,-155.7,324.0,-12.4,345,2480,0.00,2.80,0.00,0.000,6,0.000,0.055,1987,2305,3437
$GC,2802,-1.11,-155.7,364.6,-13.7,376,2808,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,2305,3436
$GC,3130,-1.11,-155.7,408.6,-13.2,407,3135,0.00,3.25,0.00,0.000,4,0.000,0.119,1987,3705,3435
$GC,3229,-1.11,-155.7,422.5,-13.2,415,3236,0.00,2.85,0.00,0.000,6,0.000,0.061,1986,2301,3435
$GC,3555,-1.11,-155.7,460.0,-11.2,446,3556,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,2300,3434
$GC,3873,-1.11,-155.7,497.3,-12.0,476,3878,0.00,3.30,0.00,0.000,4,0.000,0.123,1986,3708,3433
$STATE,3893,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3893,begin apogee
$GC,3903,-0.21,0.0,500.1,12.4,477,4044,1.10,0.00,137.35,1.025,6,0.120,0.000,2183,2706,2800
$STATE,4044,end apogee,CONTROL_FINISHED_OK
$STATE,4044,begin climb
$GC,4047,1.11,155.7,506.0,0.0,484,4197,1.52,2.72,138.35,0.985,4,0.067,0.120,2474,3784,2165
$GC,4295,1.11,155.7,493.7,10.9,497,4301,0.00,2.17,0.00,0.000,6,0.000,0.045,2474,2719,2164
$GC,4622,1.13,168.2,462.2,9.4,528,4638,0.00,2.55,10.60,1.020,4,0.000,0.117,2474,3786,2113
$GC,4700,1.13,168.2,453.8,10.9,534,4706,0.00,2.15,0.00,0.000,6,0.000,0.046,2474,2716,2113
$GC,5027,1.13,168.2,420.3,10.4,565,5032,0.00,3.12,0.00,0.000,4,0.000,0.100,2474,1311,2113
$GC,5082,1.13,168.2,414.0,11.0,569,5089,0.00,2.95,0.00,0.000,6,0.000,0.071,2474,2721,2112
$GC,5409,1.13,168.2,378.0,11.2,600,5414,0.00,2.60,0.00,0.000,4,0.000,0.140,2474,3790,2112
$GC,5453,1.13,168.2,372.4,12.1,603,5460,0.00,2.10,0.00,0.000,6,0.000,0.044,2474,2719,2112
$GC,5781,1.15,177.5,338.2,9.6,634,5794,0.00,3.12,7.35,1.014,4,0.000,0.093,2474,1304,2076
$GC,5810,1.15,177.5,334.9,10.2,636,5817,0.00,2.90,0.00,0.000,6,0.000,0.063,2474,2723,2076
$GC,6138,1.15,177.5,301.5,10.0,667,6144,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2724,2075
$GC,6463,1.15,177.5,267.9,10.2,698,6468,0.00,2.90,0.00,0.000,4,0.000,0.067,2474,1308,2075
$GC,6492,1.15,177.5,265.0,10.4,700,6496,0.00,2.88,0.00,0.000,6,0.000,0.063,2474,2720,2075
$GC,6819,1.17,187.3,232.6,9.5,730,6834,0.00,2.95,7.85,0.956,4,0.000,0.067,2474,1311,2036
$GC,6858,1.17,187.3,228.3,10.4,733,6865,0.00,2.85,0.00,0.000,6,0.000,0.061,2474,2723,2036
$GC,7185,1.17,187.7,194.8,10.0,768,7192,0.00,2.50,0.00,0.000,4,0.000,0.126,2474,3787,2036
$GC,7260,1.17,187.7,186.6,10.8,781,7267,0.00,2.08,0.00,0.000,6,0.000,0.038,2474,2706,2035
$GC,7605,1.19,204.2,153.6,9.2,842,7624,0.00,2.45,13.77,0.871,4,0.000,0.095,2474,3785,1966
$GC,7659,1.19,204.2,148.2,10.5,851,7665,0.00,2.05,0.00,0.000,6,0.000,0.038,2474,2713,1966
$GC,8003,1.19,204.2,114.7,10.8,912,8010,0.00,2.92,0.00,0.000,4,0.000,0.083,2474,1318,1966
$GC,8089,1.19,204.2,105.5,10.8,927,8096,0.00,2.83,0.00,0.000,6,0.000,0.058,2474,2725,1967
$GC,8433,1.19,204.2,69.5,10.0,988,8440,0.00,2.53,0.00,0.000,4,0.000,0.134,2474,3787,1966
$GC,8612,1.19,204.2,50.4,10.4,1019,8618,0.00,2.05,0.00,0.000,6,0.000,0.035,2474,2704,1966
$GC,8957,1.25,237.4,22.2,8.5,1080,8982,0.15,0.00,22.52,0.758,6,0.058,0.000,2510,2704,1824
$STATE,9142,end climb,SURFACE_DEPTH_REACHED
$STATE,9143,begin surface coast
$FINISH,1.3,1.010766
$STATE,9161,end surface coast,CONTROL_FINISHED_OK
$STATE,9161,begin surface
$SM_CCo,9242,0.00,0.000,0,0,1852,370.40
$SM_GC,2.58,7.85,0.00,0.00,0.053,0.000,0.000,926,2308,1852,-5.93,0.93,370.40
$RAFOS_CLK,535
$RAFOS,1,1185020041,12.250000,12.233611,46,44,44,0,0,0,484,63,96,0,0,0
$RAFOS,0,1185019444,12.083333,12.067778,43,38,37,0,0,0,48,1052,65,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,3629.60,-12206.02,210707,131339
$TT8_MAMPS,0.024544
$HUMID,2282
$INTERNAL_PRESSURE,10.8207
$TCM_TEMP,10.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,20.0,18.6
$24V_AH,20.5,20.271
$10V_AH,9.9,7.545
$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,21.025,108.550,337.800,0.000,0.000,0.000,0.000,0.000,1.250,15.408,2270.361,5210.705,567.288,1066.580,220.172,33.334,1412.269,0.000,1027.765,720.000,8.674
$DEVICE_MAMPS,223.964,139.594,1025.479,0.000,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,20.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,771.976,883.453,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,40912,1116
$CFSIZE,260165632,255459328
$ERRORS,0,0,0,0,0,0,0,0,1,0,1,0,0,0,0
$SOUNDSPEED,1486.0
$CURRENT,0.151,173.8,1
$GPS,210707,122507,3640.920,-12204.467,36,1.2,36,14.8