version: 66.01
glider: 112
mission: 2
dive: 6
start: 8 16 107 4 5 2
data:
$ID,112
$MISSION,2
$DIVE,6
$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,135
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51558
$NAV_MODE,1
$FERRY_MAX,30
$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,425
$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,-23271.119
$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,23.299999
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,100
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,168
$ROLL_MAX,3823
$C_ROLL_DIVE,1995
$C_ROLL_CLIMB,2417
$HEAD_ERRBAND,3
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,10
$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
$GPS1,035839,4807.906,-12223.901,9,1.5,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-50.3
$GPS2,040407,4807.912,-12223.912,39,1.0,44,18.3
$SPEED_LIMITS,0.173,0.206
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.114,0.130
$KALMAN_X,333.3,169.0,84.1,-676.6,27.9
$KALMAN_Y,-177.8,-75.7,-56.2,-400.7,11.0
$MHEAD_RNG_PITCHd_Wd,300.4,197,-27.5,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-1.34,-93.5,0.0,0.0,0,92,0.00,0.00,-64.47,0.000,2,0.000,0.000,679,1978,2199
$GC,96,-1.40,-132.0,3.4,-4.6,13,153,11.60,2.97,-38.45,0.000,4,0.251,0.075,2022,3409,3203
$GC,384,-1.30,-132.0,31.1,-11.1,56,389,0.17,2.67,0.00,0.000,6,0.169,0.030,2045,1990,3205
$GC,581,-1.26,-132.0,54.0,-11.9,74,586,0.00,2.97,0.00,0.000,4,0.000,0.074,2045,3406,3206
$GC,598,-1.20,-132.0,56.1,-11.8,75,604,0.17,2.70,0.00,0.000,6,0.171,0.031,2067,1983,3206
$GC,923,-1.20,-132.0,91.4,-10.8,105,928,0.00,3.03,0.00,0.000,4,0.000,0.077,2067,3411,3207
$STATE,1042,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1042,begin apogee
$GC,1051,-0.21,0.0,105.3,11.2,115,1168,1.35,0.00,109.53,0.705,6,0.154,0.000,2285,2410,2663
$STATE,1168,end apogee,CONTROL_FINISHED_OK
$STATE,1168,begin climb
$GC,1172,1.40,132.0,108.4,0.0,127,1294,1.85,3.08,108.75,0.686,4,0.077,0.075,2636,1023,2126
$GC,1328,1.30,132.0,88.3,19.2,142,1333,0.00,2.88,0.00,0.000,6,0.000,0.052,2636,2420,2125
$GC,1656,1.22,132.0,30.5,17.2,172,1661,0.22,0.00,0.00,0.000,6,0.137,0.000,2603,2420,2124
$GC,1860,1.35,184.2,2.1,6.3,203,1872,0.12,0.00,8.93,0.686,2,0.065,0.000,2628,2420,2055
$STATE,1872,end climb,SURFACE_DEPTH_REACHED
$STATE,1872,begin surface coast
$FINISH,2.4,1.018873
$STATE,1944,end surface coast,CONTROL_FINISHED_OK
$STATE,1944,begin surface
$SM_CCo,1948,190.73,0.617,0,0,486,534.26
$SM_GC,2.22,9.82,0.00,0.00,0.041,0.000,0.000,679,1995,479,-7.58,0.00,535.98
$RAFOS_CLK,89
$RAFOS,2,1187238247,4.416667,4.401945,48,43,41,0,0,0,620,783,172,0,0,0
$RAFOS,1,1187237648,4.250000,4.235556,43,43,41,0,0,0,683,1122,818,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12221.84,160807,070706
$TT8_MAMPS,0.024544
$HUMID,2192
$INTERNAL_PRESSURE,11.3579
$TCM_TEMP,10.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.1,17.7
$24V_AH,21.0,25.661
$10V_AH,10.0,9.108
$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,25.325,23.100,227.200,190.725,0.000,38.890,55.491,98.747,0.500,45.710,376.341,1117.223,526.872,274.026,299.630,33.318,745.926,0.000,236.624,1080.000,2.558
$DEVICE_MAMPS,250.809,77.467,704.873,616.668,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,20.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,152.294,152.819,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6434,218
$CFSIZE,260165632,255283200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$SOUNDSPEED,1489.6
$GPS,160807,044326,4808.074,-12224.037,10,2.0,10,18.3