version: 66.01
glider: 112
mission: 1
dive: 23
start: 7 11 107 16 28 42
data:
$ID,112
$MISSION,1
$DIVE,23
$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,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,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,-18399.68
$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,15
$R_STBD_OVSHOOT,11
$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
$GPS1,161808,4806.879,-12222.697,29,1.7,29,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-50.3
$GPS2,162739,4806.748,-12222.626,15,2.0,15,18.3
$SPEED_LIMITS,0.173,0.206
$TGT_NAME,SIX_sb
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.052,-0.199
$KALMAN_X,1000.0,123.5,2.1,-1183.2,155.8
$KALMAN_Y,-2329.7,-152.3,-59.6,2651.3,-50.4
$MHEAD_RNG_PITCHd_Wd,127.2,1586,-22.4,-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,25,-1.15,-132.0,0.0,0.0,0,109,0.00,0.00,-81.10,0.000,2,0.000,0.000,675,2050,2853
$GC,112,-1.15,-132.0,3.1,-4.8,13,164,12.27,2.90,-28.52,0.000,4,0.263,0.070,2011,652,3875
$GC,416,-1.15,-132.0,37.8,-13.6,54,422,0.00,2.72,0.00,0.000,6,0.000,0.036,2011,2076,3877
$GC,486,-1.15,-132.0,47.0,-13.2,61,491,0.00,2.88,0.00,0.000,4,0.000,0.058,2011,651,3877
$GC,529,-1.15,-132.0,53.3,-14.6,64,536,0.00,2.72,0.00,0.000,6,0.000,0.040,2011,2063,3877
$GC,664,-1.15,-132.0,70.3,-12.7,77,668,0.00,3.03,0.00,0.000,4,0.000,0.091,2011,3463,3878
$GC,737,-1.15,-132.0,79.7,-12.6,83,741,0.00,2.72,0.00,0.000,6,0.000,0.039,2011,2054,3878
$GC,870,-1.15,-132.0,96.8,-12.9,95,875,0.00,2.97,0.00,0.000,4,0.000,0.078,2011,3463,3878
$GC,914,-1.15,-132.0,102.7,-12.9,98,921,0.00,2.72,0.00,0.000,6,0.000,0.041,2011,2057,3878
$STATE,949,end dive,TARGET_DEPTH_EXCEEDED
$STATE,949,begin apogee
$GC,957,-0.21,0.0,107.2,12.7,102,1074,1.23,0.00,112.50,0.676,6,0.140,0.000,2218,1863,3334
$STATE,1075,end apogee,CONTROL_FINISHED_OK
$STATE,1075,begin climb
$GC,1078,1.15,132.0,111.2,0.0,114,1200,1.58,3.25,111.93,0.660,4,0.075,0.103,2517,472,2796
$GC,1208,1.15,132.0,102.6,12.1,125,1215,0.00,2.88,0.00,0.000,6,0.000,0.049,2517,1869,2796
$GC,1342,1.15,132.0,84.7,13.0,138,1347,0.00,3.17,0.00,0.000,4,0.000,0.094,2517,3282,2795
$GC,1475,1.15,132.0,66.6,13.4,149,1482,0.00,2.85,0.00,0.000,6,0.000,0.050,2517,1877,2794
$GC,1610,1.15,132.0,50.5,11.4,162,1614,0.00,2.95,0.00,0.000,4,0.000,0.066,2517,3282,2793
$GC,1683,1.15,132.0,42.0,11.5,168,1687,0.00,2.85,0.00,0.000,6,0.000,0.048,2517,1869,2793
$GC,1816,1.15,132.0,27.3,10.9,180,1818,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,1868,2793
$GC,1880,1.15,132.0,20.4,10.9,186,1888,0.00,2.85,0.00,0.000,4,0.000,0.068,2517,3290,2793
$GC,1923,1.15,132.0,15.7,11.3,192,1929,0.00,2.85,0.00,0.000,6,0.000,0.048,2517,1869,2793
$GC,1998,1.15,132.0,8.1,10.4,205,2004,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,1869,2792
$GC,2074,1.15,366.7,6.7,-2.3,218,2254,0.00,0.00,176.35,0.616,2,0.000,0.000,2517,1869,1885
$STATE,2254,end climb,SURFACE_DEPTH_REACHED
$STATE,2254,begin surface coast
$FINISH,1.0,1.016878
$STATE,2303,end surface coast,CONTROL_FINISHED_OK
$STATE,2303,begin surface
$SM_CCo,2325,86.00,0.582,0,0,1296,500.17
$SM_GC,1.81,0.00,0.00,86.00,0.000,0.000,0.582,675,2094,1296,-7.33,0.93,500.17
$RAFOS_CLK,113
$RAFOS,5,1184172843,16.916666,16.900833,66,63,60,59,59,57,234,215,155,107,181,191
$RAFOS,4,1184172250,16.750000,16.736111,67,64,59,53,51,51,218,206,191,167,115,157
$RAFOS,3,1184171646,16.583334,16.568333,61,59,58,51,51,49,212,202,147,157,175,134
$RAFOS,0,1184169852,16.083334,16.070000,62,62,60,59,57,54,138,163,209,196,180,129
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12221.84,110707,202031
$TT8_MAMPS,0.024544
$HUMID,1933
$INTERNAL_PRESSURE,10.4106
$TCM_TEMP,10.60
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,18.9
$24V_AH,20.8,15.875
$10V_AH,10.0,6.270
$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,24.600,47.150,400.775,86.000,0.000,77.753,63.075,231.989,0.500,16.893,511.357,1043.298,617.190,301.178,533.389,33.330,897.833,0.000,289.192,1080.000,2.574
$DEVICE_MAMPS,263.081,102.778,676.494,582.153,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,20.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,180.033,175.632,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9590,257
$CFSIZE,260165632,256172032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$SOUNDSPEED,1486.5
$CURRENT,0.061,161.2,1
$GPS,110707,170951,4806.526,-12222.391,11,1.9,11,18.3