version: 66.01
glider: 112
mission: 1
dive: 21
start: 7 11 107 14 46 50
data:
$ID,112
$MISSION,1
$DIVE,21
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$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,-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,51440
$NAV_MODE,2
$FERRY_MAX,0
$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,500
$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,-18370.555
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,0.2
$RAFOS_CORR_THRESH,80
$RAFOS_HIT_WINDOW,5400
$PITCH_MIN,679
$PITCH_MAX,3252
$C_PITCH,2269
$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
$ROLL_MIN,166
$ROLL_MAX,3791
$C_ROLL_DIVE,2060
$C_ROLL_CLIMB,1870
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,12
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,486
$VBD_MAX,3897
$C_VBD,3335
$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,-3.7066903
$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,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043805656
$SEABIRD_T_H,0.00064742006
$SEABIRD_T_I,2.5554549e-05
$SEABIRD_T_J,2.6681391e-06
$SEABIRD_C_G,-10.331019
$SEABIRD_C_H,1.1763502
$SEABIRD_C_I,-0.0012340198
$SEABIRD_C_J,0.00017379176
$GPS1,144139,4807.386,-12223.296,11,1.3,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-50.3
$GPS2,144551,4807.359,-12223.291,12,1.3,12,18.3
$SPEED_LIMITS,0.173,0.206
$TGT_NAME,SEVEN_sb
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.091,-0.184
$KALMAN_X,426.6,70.1,5.0,-1373.9,11.0
$KALMAN_Y,-1939.2,-165.9,-104.1,3446.5,13.9
$MHEAD_RNG_PITCHd_Wd,133.3,757,-22.4,-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,26,-1.15,-132.0,0.0,0.0,0,83,0.00,0.00,-55.45,0.000,2,0.000,0.000,676,2087,2859
$GC,87,-1.15,-132.0,3.1,-4.7,9,138,12.25,3.00,-29.33,0.000,4,0.263,0.074,2012,649,3875
$GC,390,-1.15,-132.0,41.2,-13.5,48,397,0.00,2.72,0.00,0.000,6,0.000,0.038,2013,2054,3877
$GC,524,-1.15,-132.0,58.7,-13.0,61,529,0.00,2.85,0.00,0.000,4,0.000,0.060,2012,647,3878
$GC,568,-1.15,-132.0,65.0,-13.9,64,575,0.00,2.75,0.00,0.000,6,0.000,0.040,2012,2066,3878
$GC,702,-1.15,-132.0,81.8,-12.3,77,707,0.00,3.03,0.00,0.000,4,0.000,0.087,2013,3469,3878
$GC,757,-1.15,-132.0,88.9,-12.4,81,764,0.00,2.75,0.00,0.000,6,0.000,0.039,2012,2050,3877
$STATE,888,end dive,TARGET_DEPTH_EXCEEDED
$STATE,888,begin apogee
$GC,896,-0.21,0.0,105.5,12.5,94,1013,1.23,0.00,113.12,0.687,6,0.142,0.000,2219,1855,3335
$STATE,1014,end apogee,CONTROL_FINISHED_OK
$STATE,1014,begin climb
$GC,1017,1.15,132.0,109.3,0.0,106,1140,1.58,3.20,112.47,0.671,4,0.074,0.101,2516,474,2796
$GC,1175,1.15,132.0,97.2,13.3,120,1179,0.00,2.85,0.00,0.000,6,0.000,0.048,2516,1866,2796
$GC,1308,1.15,132.0,79.7,13.0,132,1313,0.00,3.17,0.00,0.000,4,0.000,0.094,2516,3280,2794
$GC,1420,1.15,132.0,65.0,13.6,141,1426,0.00,2.85,0.00,0.000,6,0.000,0.049,2516,1876,2794
$GC,1554,1.15,132.0,48.7,12.1,154,1559,0.00,2.95,0.00,0.000,4,0.000,0.066,2516,3282,2794
$GC,1661,1.15,132.0,36.0,11.7,163,1665,0.00,2.85,0.00,0.000,6,0.000,0.048,2516,1866,2794
$GC,1731,1.15,132.0,28.1,10.8,169,1736,0.00,2.95,0.00,0.000,4,0.000,0.065,2516,3285,2794
$GC,1786,1.15,132.0,22.0,10.9,173,1793,0.00,2.85,0.00,0.000,6,0.000,0.048,2516,1866,2793
$GC,1859,1.15,132.0,14.4,10.2,184,1865,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1866,2793
$GC,1933,1.15,172.7,7.6,7.9,197,1975,0.00,2.97,32.65,0.663,4,0.000,0.062,2516,3284,2631
$GC,2228,1.22,366.6,5.3,-0.2,249,2354,0.00,2.83,119.35,0.635,2,0.000,0.044,2516,1865,1988
$STATE,2355,end climb,SURFACE_DEPTH_REACHED
$STATE,2355,begin surface coast
$FINISH,1.0,1.018214
$STATE,2390,end surface coast,CONTROL_FINISHED_OK
$STATE,2390,begin surface
$SM_CCo,2412,98.85,0.589,0,0,1295,500.17
$SM_GC,1.93,0.00,0.00,98.85,0.000,0.000,0.589,678,2096,1295,-7.32,1.02,500.17
$RAFOS_CLK,107
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12224.57,110707,171706
$TT8_MAMPS,0.024544
$HUMID,1979
$INTERNAL_PRESSURE,10.4008
$TCM_TEMP,11.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.1,18.3
$24V_AH,20.8,15.653
$10V_AH,10.0,6.220
$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,24.575,47.400,377.600,98.850,0.000,40.184,34.226,76.468,0.500,14.255,555.126,1052.687,585.437,317.125,271.848,33.331,874.627,0.000,309.148,0.000,2.559
$DEVICE_MAMPS,263.081,101.244,687.232,589.056,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,20.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,196.549,188.061,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9596,277
$CFSIZE,260165632,256233472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$SOUNDSPEED,1487.1
$CURRENT,0.069,134.8,1
$GPS,110707,152956,4807.164,-12223.026,13,1.7,30,18.3