version: 66.01
glider: 112
mission: 2
dive: 51
start: 8 17 107 16 3 5
data:
$ID,112
$MISSION,2
$DIVE,51
$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,-24263.113
$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,0.029999999
$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,13
$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
$GPS1,155726,4807.939,-12223.896,5,1.4,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-50.3
$GPS2,160209,4807.986,-12223.950,9,1.9,9,18.3
$SPEED_LIMITS,0.173,0.217
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.144,-0.162
$KALMAN_X,1137.2,-4.2,-133.4,-1136.3,-106.4
$KALMAN_Y,1685.9,-28.7,42.3,-2274.2,35.4
$MHEAD_RNG_PITCHd_Wd,120.0,2171,-21.9,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.20,-146.6,0.0,0.0,0,63,0.00,0.00,-35.42,0.000,2,0.000,0.000,679,2161,2191
$GC,67,-1.20,-146.6,3.2,-3.4,7,123,14.00,3.00,-33.85,0.000,4,0.285,0.086,2066,3564,3263
$GC,164,-0.94,-146.6,9.8,-8.5,25,170,0.45,2.75,0.00,0.000,6,0.183,0.032,2126,2138,3264
$GC,239,-0.92,-146.6,16.9,-8.9,38,245,0.00,2.85,0.00,0.000,4,0.000,0.072,2126,758,3265
$GC,286,-0.90,-146.6,21.4,-9.7,45,290,0.00,2.67,0.00,0.000,6,0.000,0.035,2126,2145,3265
$GC,483,-0.90,-146.6,38.4,-8.8,63,488,0.00,3.08,0.00,0.000,4,0.000,0.091,2126,3562,3266
$GC,567,-0.90,-146.6,46.3,-9.1,70,572,0.00,2.67,0.00,0.000,6,0.000,0.033,2126,2164,3267
$GC,765,-0.91,-146.6,63.7,-8.8,88,770,0.00,2.97,0.00,0.000,4,0.000,0.077,2126,3567,3267
$GC,827,-0.91,-146.6,69.4,-9.4,93,832,0.00,2.67,0.00,0.000,6,0.000,0.034,2127,2177,3267
$GC,1156,-0.94,-146.6,97.8,-8.6,123,1161,0.00,2.97,0.00,0.000,4,0.000,0.082,2126,754,3267
$GC,1212,-0.96,-146.6,103.2,-8.7,127,1218,0.00,2.72,0.00,0.000,6,0.000,0.039,2126,2171,3267
$STATE,1236,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1237,begin apogee
$GC,1244,-0.22,0.0,105.6,8.6,130,1373,0.93,0.00,123.82,0.704,6,0.136,0.000,2278,2421,2664
$STATE,1373,end apogee,CONTROL_FINISHED_OK
$STATE,1373,begin climb
$GC,1376,1.20,146.6,108.2,0.0,143,1513,1.73,3.40,123.60,0.683,4,0.089,0.110,2594,3818,2065
$GC,1550,0.99,146.6,88.1,16.4,160,1556,0.30,2.83,0.00,0.000,6,0.130,0.038,2550,2415,2064
$GC,1875,0.95,146.6,47.4,11.9,190,1877,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2415,2064
$GC,2066,0.92,146.6,25.4,11.7,208,2071,0.00,3.03,0.00,0.000,4,0.000,0.082,2550,3814,2063
$GC,2111,0.85,146.6,19.9,12.0,211,2117,0.20,2.70,0.00,0.000,6,0.120,0.036,2519,2425,2063
$GC,2320,1.27,270.2,3.2,4.4,248,2357,0.43,0.00,33.45,0.657,2,0.037,0.000,2614,2425,1802
$STATE,2358,end climb,SURFACE_DEPTH_REACHED
$STATE,2358,begin surface coast
$FINISH,1.7,1.007932
$STATE,2407,end surface coast,CONTROL_FINISHED_OK
$STATE,2407,begin surface
$SM_CCo,2429,83.82,0.624,0,0,1237,350.04
$SM_GC,2.37,0.00,0.00,83.82,0.000,0.000,0.624,680,2143,1237,-7.61,-0.37,350.04
$RAFOS_CLK,107
$RAFOS,3,1187368446,16.583334,16.568333,43,43,41,0,0,0,59,336,363,0,0,0
$RAFOS,2,1187367842,16.416666,16.400555,46,46,44,0,0,0,467,676,110,0,0,0
$RAFOS,1,1187367251,16.250000,16.236389,45,42,40,0,0,0,847,353,663,0,0,0
$RAFOS,0,1187366644,16.083334,16.067778,43,40,40,0,0,0,927,32,1076,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4751.72,-12226.29,170807,191931
$TT8_MAMPS,0.024544
$HUMID,2075
$INTERNAL_PRESSURE,11.3383
$TCM_TEMP,11.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.5
$24V_AH,20.9,29.385
$10V_AH,10.0,10.077
$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,27.850,41.400,280.875,83.825,0.000,39.143,49.559,89.325,0.250,10.943,463.377,1309.122,458.693,280.363,301.521,33.334,721.247,0.000,278.905,1440.000,2.557
$DEVICE_MAMPS,284.557,109.681,704.106,623.571,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,20.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,184.710,187.080,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9584,264
$CFSIZE,260165632,254238720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$SOUNDSPEED,1487.5
$GPS,170807,164611,4807.895,-12223.723,7,2.7,26,18.3