version: 66.01
glider: 112
mission: 2
dive: 93
start: 8 19 107 0 12 58
data:
$ID,112
$MISSION,2
$DIVE,93
$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,-25128.551
$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,20
$R_STBD_OVSHOOT,12
$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
$GPS1,000741,4806.477,-12222.479,6,2.4,25,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-50.3
$GPS2,001237,4806.453,-12222.438,15,1.4,26,18.3
$SPEED_LIMITS,0.173,0.217
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$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,128.9,998,-21.9,-10.000
$D_GRID,107
$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,-34.55,0.000,2,0.000,0.000,681,2134,2179
$GC,66,-1.23,-146.6,3.4,-4.5,7,119,14.55,3.03,-31.48,0.000,4,0.294,0.079,2067,3567,3261
$GC,372,-1.09,-146.6,38.9,-13.6,50,378,0.25,2.72,0.00,0.000,6,0.193,0.033,2098,2146,3265
$GC,569,-1.02,-146.6,59.4,-11.0,69,574,0.00,3.00,0.00,0.000,4,0.000,0.073,2098,3571,3265
$GC,815,-0.93,-146.6,83.7,-6.8,90,821,0.25,2.70,0.00,0.000,6,0.187,0.034,2130,2160,3265
$STATE,1097,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1097,begin apogee
$GC,1104,-0.23,0.0,107.5,8.5,117,1233,0.95,0.00,123.60,0.690,6,0.155,0.000,2288,2438,2664
$STATE,1233,end apogee,CONTROL_FINISHED_OK
$STATE,1234,begin climb
$GC,1237,1.23,146.6,110.0,0.0,130,1366,1.75,0.00,123.50,0.669,6,0.089,0.000,2605,2439,2066
$GC,1683,1.12,146.6,48.0,15.4,173,1687,0.00,3.00,0.00,0.000,4,0.000,0.091,2605,3807,2064
$GC,1738,0.98,146.6,39.0,15.8,177,1744,0.32,2.72,0.00,0.000,6,0.127,0.038,2556,2423,2064
$GC,1940,1.06,191.6,18.0,8.0,198,1986,0.00,3.15,36.08,0.651,4,0.000,0.087,2555,1004,1882
$GC,1998,1.07,191.6,12.9,10.2,209,2004,0.00,2.85,0.00,0.000,6,0.000,0.047,2555,2412,1882
$GC,2073,1.19,217.7,6.8,8.8,222,2104,0.20,3.33,21.33,0.641,4,0.049,0.108,2602,3827,1775
$GC,2133,1.35,314.2,3.3,5.6,233,2161,0.15,2.70,21.08,0.628,2,0.060,0.034,2633,2449,1607
$STATE,2161,end climb,SURFACE_DEPTH_REACHED
$STATE,2162,begin surface coast
$FINISH,1.5,1.009065
$STATE,2188,end surface coast,CONTROL_FINISHED_OK
$STATE,2188,begin surface
$SM_CCo,2210,49.92,0.611,0,0,1236,350.04
$SM_GC,2.94,0.00,0.00,49.92,0.000,0.000,0.611,682,2142,1236,-7.63,-0.40,350.04
$RAFOS_CLK,94
$RAFOS,3,1187483648,0.583333,0.568889,48,42,40,0,0,0,80,166,1010,0,0,0
$RAFOS,2,1187483045,0.416667,0.401389,47,45,45,0,0,0,32,80,1155,0,0,0
$RAFOS,1,1187482448,0.250000,0.235556,41,40,39,0,0,0,32,137,803,0,0,0
$RAFOS,0,1187481846,0.083333,0.068333,43,42,41,0,0,0,110,773,505,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4751.72,-12216.40,190807,030302
$TT8_MAMPS,0.024544
$HUMID,2075
$INTERNAL_PRESSURE,11.3383
$TCM_TEMP,11.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.9
$24V_AH,20.4,32.745
$10V_AH,10.0,10.926
$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,28.450,30.375,325.575,49.925,0.000,38.303,46.647,89.443,0.250,27.956,404.984,1141.239,452.050,285.202,289.220,0.000,698.575,0.000,265.956,1440.000,2.558
$DEVICE_MAMPS,293.761,108.147,690.300,610.532,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,20.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,169.357,170.780,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9631,243
$CFSIZE,260165632,253321216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$SOUNDSPEED,1488.7
$GPS,190807,005133,4806.285,-12222.354,8,1.4,8,18.3