version: 66.01
glider: 112
mission: 1
dive: 25
start: 7 22 107 5 59 1
data:
$ID,112
$MISSION,1
$DIVE,25
$D_SURF,2
$D_FLARE,3
$D_TGT,500
$D_ABORT,1090
$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,115
$T_MISSION,140
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51814
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038775599
$HD_B,0.0138418
$HD_C,4.7289599e-05
$HEADING,315
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-21637.23
$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,2300
$C_ROLL_CLIMB,2720
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,7
$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,75
$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
$GPS1,055409,3630.605,-12205.053,9,1.7,9,14.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-45.1
$GPS2,055827,3630.488,-12205.084,14,1.6,14,14.7
$SPEED_LIMITS,0.251,0.278
$TGT_NAME,HEADING
$TGT_LATLONG,3638.124,-12211.212
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.128,0.261
$KALMAN_X,10230.5,-4251.8,942.3,-15459.8,-901.5
$KALMAN_Y,-28436.5,-116.8,-166.7,125.3,-1889.4
$MHEAD_RNG_PITCHd_Wd,300.3,20000,-24.8,-14.493
$D_GRID,984
$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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,31,-1.36,-194.6,0.0,0.0,0,113,0.00,0.00,-79.47,0.000,2,0.000,0.000,672,1100,2601
$GC,117,-1.36,-194.6,3.1,-5.7,16,164,10.60,5.45,-26.05,0.000,4,0.243,0.071,1929,3712,3597
$GC,257,-1.36,-194.6,26.8,-22.3,41,263,0.00,2.67,0.00,0.000,6,0.000,0.035,1929,2312,3597
$GC,600,-1.36,-194.6,92.7,-18.9,102,605,0.00,3.00,0.00,0.000,4,0.000,0.084,1929,3713,3599
$GC,623,-1.36,-194.6,97.0,-18.7,106,628,0.00,2.70,0.00,0.000,6,0.000,0.037,1929,2301,3599
$GC,967,-1.36,-194.6,160.7,-17.7,167,971,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,2300,3599
$GC,1307,-1.36,-194.6,223.8,-19.0,217,1312,0.00,3.20,0.00,0.000,4,0.000,0.111,1929,3710,3599
$GC,1335,-1.36,-194.6,229.2,-19.6,219,1340,0.00,2.75,0.00,0.000,6,0.000,0.044,1929,2297,3599
$GC,1662,-1.36,-194.6,285.4,-16.2,249,1667,0.00,3.00,0.00,0.000,4,0.000,0.092,1929,890,3599
$GC,1701,-1.36,-194.6,292.2,-16.2,252,1706,0.00,2.88,0.00,0.000,6,0.000,0.063,1929,2309,3599
$GC,2029,-1.36,-194.6,342.7,-15.5,282,2034,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,2309,3598
$GC,2354,-1.36,-194.6,392.7,-15.4,313,2359,0.00,3.05,0.00,0.000,4,0.000,0.094,1929,892,3597
$GC,2416,-1.36,-194.6,402.4,-15.7,318,2420,0.00,2.95,0.00,0.000,6,0.000,0.078,1929,2306,3597
$GC,2740,-1.36,-194.6,456.2,-17.5,348,2741,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,2306,3596
$STATE,2993,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2993,begin apogee
$GC,3001,-0.21,0.0,501.5,18.4,372,3179,1.52,0.00,173.57,1.013,6,0.131,0.000,2183,2727,2800
$STATE,3180,end apogee,CONTROL_FINISHED_OK
$STATE,3180,begin climb
$GC,3183,1.36,194.6,513.2,0.0,381,3369,1.83,3.03,173.43,0.972,4,0.067,0.164,2529,3786,2006
$GC,3621,1.36,194.6,468.0,15.1,409,3627,0.00,2.15,0.00,0.000,6,0.000,0.046,2529,2717,2004
$GC,3949,1.36,194.6,418.1,16.4,440,3953,0.00,2.47,0.00,0.000,4,0.000,0.112,2529,3786,2003
$GC,4038,1.36,194.6,402.2,17.1,447,4043,0.00,2.12,0.00,0.000,6,0.000,0.048,2529,2719,2003
$GC,4365,1.36,194.6,349.8,15.8,478,4366,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2719,2002
$GC,4681,1.36,194.6,297.0,16.6,508,4685,0.00,2.35,0.00,0.000,4,0.000,0.094,2529,3791,2001
$GC,4758,1.36,194.6,284.0,15.6,514,4764,0.00,2.08,0.00,0.000,6,0.000,0.039,2529,2714,2001
$GC,5086,1.43,240.3,240.1,12.2,545,5129,0.00,2.47,37.12,0.902,4,0.000,0.092,2529,3794,1819
$GC,5175,1.43,240.3,227.7,14.6,553,5181,0.00,2.12,0.00,0.000,6,0.000,0.041,2529,2711,1818
$GC,5507,1.45,250.4,182.1,14.0,595,5522,0.00,2.42,8.15,0.888,4,0.000,0.092,2529,3785,1779
$GC,5557,1.45,250.4,174.3,16.3,604,5562,0.00,2.08,0.00,0.000,6,0.000,0.039,2529,2716,1779
$GC,5899,1.45,250.4,120.5,15.4,665,5905,0.00,2.35,0.00,0.000,4,0.000,0.093,2529,3788,1778
$GC,5973,1.45,250.4,108.5,16.9,678,5978,0.00,2.08,0.00,0.000,6,0.000,0.038,2529,2709,1778
$GC,6315,1.47,264.6,59.1,13.8,739,6331,0.12,0.00,11.35,0.805,6,0.066,0.000,2555,2709,1721
$GC,6669,1.48,268.2,4.7,14.3,802,6680,0.00,2.42,2.80,0.826,4,0.000,0.094,2555,3784,1634
$STATE,6689,end climb,SURFACE_DEPTH_REACHED
$STATE,6689,begin surface coast
$FINISH,1.4,1.002865
$STATE,6701,end surface coast,CONTROL_FINISHED_OK
$STATE,6701,begin surface
$SM_CCo,6725,47.12,0.698,0,0,1371,350.04
$SM_GC,2.16,0.00,0.00,47.12,0.000,0.000,0.698,900,2295,1371,-6.14,-0.14,350.04
$RAFOS_CLK,409
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,3616.21,-12206.29,220707,090900
$TT8_MAMPS,0.024544
$HUMID,2280
$INTERNAL_PRESSURE,10.7719
$TCM_TEMP,10.00
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.1,17.5
$24V_AH,20.5,22.199
$10V_AH,9.9,8.076
$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,22.225,65.775,406.425,47.125,0.000,0.000,0.000,0.000,1.250,15.436,1294.431,4001.780,600.943,805.477,163.638,0.000,1242.578,0.000,770.882,0.000,11.051
$DEVICE_MAMPS,243.139,164.138,1013.207,697.970,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,20.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,558.994,635.724,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28420,808
$CFSIZE,260165632,255004672
$ERRORS,0,0,0,0,0,0,0,0,1,0,1,0,0,0,0
$SOUNDSPEED,1486.4
$GPS,220707,075305,3630.490,-12206.668,7,3.8,26,14.7