version: 66.01
glider: 112
mission: 1
dive: 2
start: 7 20 107 18 59 9
data:
$ID,112
$MISSION,1
$DIVE,2
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,75
$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,-20325.055
$T_RSLEEP,5
$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,2200
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,34
$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
$GPS1,185208,3646.366,-12158.813,8,1.3,13,14.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-45.9
$GPS2,185805,3646.326,-12158.743,9,3.8,28,14.8
$SPEED_LIMITS,0.173,0.222
$TGT_NAME,ALPHA
$TGT_LATLONG,3645.000,-12202.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.222,0.007
$KALMAN_X,270.5,270.5,270.5,-264.7,467.3
$KALMAN_Y,-71.1,-71.1,-71.1,-466.2,-122.9
$MHEAD_RNG_PITCHd_Wd,228.3,5421,-20.5,-10.000
$D_GRID,641
$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,-1.12,-155.7,0.0,0.0,0,116,0.00,0.00,-88.22,0.000,2,0.000,0.000,669,2227,2900
$GC,120,-1.12,-155.7,3.5,-6.6,14,153,10.68,2.85,-12.90,0.000,4,0.232,0.083,1988,3588,3438
$GC,210,-1.12,-155.7,16.4,-14.6,29,217,0.00,2.65,0.00,0.000,6,0.000,0.034,1988,2192,3439
$GC,555,-1.12,-155.7,64.1,-14.0,90,562,0.00,2.97,0.00,0.000,4,0.000,0.081,1988,3590,3440
$GC,737,-1.12,-155.7,88.4,-13.0,122,744,0.00,2.65,0.00,0.000,6,0.000,0.035,1988,2202,3441
$GC,1083,-1.12,-155.7,133.7,-12.7,183,1090,0.00,2.88,0.00,0.000,4,0.000,0.073,1988,792,3441
$GC,1130,-1.12,-155.7,140.0,-12.9,191,1137,0.00,2.67,0.00,0.000,6,0.000,0.042,1988,2180,3441
$STATE,1208,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1208,begin apogee
$GC,1216,-0.21,0.0,150.1,12.4,205,1354,1.12,0.00,130.85,0.759,6,0.117,0.000,2182,2417,2800
$STATE,1354,end apogee,CONTROL_FINISHED_OK
$STATE,1355,begin climb
$GC,1360,1.12,155.7,155.3,0.0,231,1503,1.52,3.38,130.48,0.734,4,0.071,0.125,2476,3777,2165
$GC,1513,1.19,200.6,151.5,8.0,258,1557,0.00,2.78,37.70,0.719,6,0.000,0.041,2476,2402,1982
$GC,1895,1.19,201.7,110.1,9.9,325,1902,0.00,3.05,0.00,0.000,4,0.000,0.093,2476,3778,1980
$GC,1970,1.19,201.7,101.6,11.6,338,1977,0.00,2.70,0.00,0.000,6,0.000,0.040,2477,2402,1980
$GC,2315,1.19,201.7,64.2,10.2,399,2321,0.00,3.03,0.00,0.000,4,0.000,0.091,2477,3783,1979
$GC,2418,1.19,201.7,52.7,11.5,417,2425,0.00,2.70,0.00,0.000,6,0.000,0.041,2476,2391,1974
$GC,2763,1.27,247.5,20.4,8.0,478,2807,0.17,3.12,36.97,0.720,4,0.057,0.087,2514,3784,1791
$STATE,2922,end climb,SURFACE_DEPTH_REACHED
$STATE,2922,begin surface coast
$FINISH,1.1,1.010401
$STATE,2941,end surface coast,CONTROL_FINISHED_OK
$STATE,2941,begin surface
$SM_CCo,2965,54.83,0.653,0,0,1372,350.04
$SM_GC,1.88,0.00,0.00,54.83,0.000,0.000,0.653,670,2186,1372,-7.20,-0.40,350.04
$RAFOS_CLK,215
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,3632.29,-12155.48,200707,222227
$TT8_MAMPS,0.024544
$HUMID,2236
$INTERNAL_PRESSURE,10.8403
$TCM_TEMP,10.40
$XPDR_PINGS,4
$ALTIM_TOP_PING,20.0,19.5
$24V_AH,20.9,19.208
$10V_AH,10.0,7.163
$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,22.750,41.100,336.000,54.825,0.000,0.000,0.000,0.000,1.250,30.771,927.443,1112.623,507.443,474.586,108.849,30.176,890.625,0.000,454.038,0.000,2.574
$DEVICE_MAMPS,232.401,125.021,759.330,653.484,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,20.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,352.408,382.709,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15815,509
$CFSIZE,260165632,255799296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1488.6
$CURRENT,0.087,159.5,1
$GPS,200707,195026,3646.035,-12158.990,7,1.5,13,14.8