version: 66.01
glider: 111
mission: 1
dive: 5
start: 7 20 107 21 56 11
data:
$ID,111
$MISSION,1
$DIVE,5
$D_SURF,2
$D_FLARE,3
$D_TGT,500
$D_ABORT,600
$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,167
$T_MISSION,220
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51939
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,375
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-90714.008
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,722
$PITCH_MAX,3310
$C_PITCH,2110
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,120
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,171
$ROLL_MAX,3808
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,599
$VBD_MAX,3942
$C_VBD,2250
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0020000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-2.5243471
$PRESSURE_SLOPE,9.0714857e-05
$AD7714Ch0Gain,64
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,4
$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,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,0
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043273787
$SEABIRD_T_H,0.0006414231
$SEABIRD_T_I,2.3931538e-05
$SEABIRD_T_J,2.340664e-06
$SEABIRD_C_G,-10.258962
$SEABIRD_C_H,1.1819305
$SEABIRD_C_I,-0.0037964056
$SEABIRD_C_J,0.00031207138
$GPS1,215019,3645.079,-12158.328,8,2.0,12,14.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-43.9
$GPS2,215502,3645.015,-12158.271,15,2.0,32,14.8
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,ONE
$TGT_LATLONG,3644.000,-12205.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.232,0.132
$KALMAN_X,2107.3,684.4,309.5,-1313.9,977.2
$KALMAN_Y,-1545.9,-290.5,-137.1,-987.0,-1520.6
$MHEAD_RNG_PITCHd_Wd,244.5,10164,-16.9,-9.980
$D_GRID,484
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-1.44,-155.7,0.0,0.0,0,106,0.00,0.00,-77.57,0.000,2,0.000,0.000,717,2471,2623
$GC,109,-1.44,-155.7,3.7,-7.8,11,131,7.43,2.38,-5.78,0.000,4,0.243,0.067,1788,3785,2887
$GC,273,-1.44,-155.7,37.3,-18.3,39,280,0.00,2.22,0.00,0.000,6,0.000,0.046,1788,2514,2889
$GC,618,-1.44,-155.7,103.0,-17.7,100,625,0.00,2.55,0.00,0.000,4,0.000,0.055,1788,1085,2890
$GC,664,-1.44,-155.7,111.4,-17.9,108,672,0.00,2.38,0.00,0.000,6,0.000,0.028,1788,2509,2890
$GC,1009,-1.44,-155.7,174.5,-19.0,169,1015,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,2511,2891
$GC,1346,-1.44,-155.7,237.4,-17.9,212,1350,0.00,2.55,0.00,0.000,4,0.000,0.058,1788,1094,2891
$GC,1401,-1.44,-155.7,247.9,-19.1,216,1409,0.00,2.35,0.00,0.000,6,0.000,0.030,1788,2498,2891
$GC,1727,-1.44,-155.7,302.7,-16.4,247,1732,0.00,2.53,0.00,0.000,4,0.000,0.058,1788,1095,2891
$GC,1778,-1.44,-155.7,311.6,-16.6,251,1782,0.00,2.35,0.00,0.000,6,0.000,0.030,1789,2496,2890
$GC,2104,-1.44,-155.7,365.2,-16.8,281,2108,0.00,2.55,0.00,0.000,4,0.000,0.063,1788,1094,2890
$GC,2147,-1.44,-155.7,372.9,-16.7,284,2154,0.00,2.35,0.00,0.000,6,0.000,0.030,1788,2497,2890
$GC,2473,-1.44,-155.7,427.2,-18.6,315,2474,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,2497,2890
$GC,2791,-1.44,-155.7,446.0,-3.2,345,2795,0.00,2.60,0.00,0.000,4,0.000,0.073,1789,1097,2890
$GC,2890,-1.44,-155.7,448.2,-2.3,353,2898,0.00,2.38,0.00,0.000,6,0.000,0.031,1787,2507,2889
$STATE,3119,end dive,NO_VERTICAL_VELOCITY
$STATE,3119,begin apogee
$GC,3125,-0.33,0.0,450.7,0.0,375,3256,1.62,0.00,126.97,0.963,6,0.244,0.000,2030,2795,2250
$STATE,3257,end apogee,CONTROL_FINISHED_OK
$STATE,3257,begin climb
$GC,3259,1.44,155.7,450.4,0.0,388,3395,2.38,2.62,125.05,0.925,4,0.198,0.061,2414,1392,1615
$GC,3456,1.44,155.7,438.4,12.2,404,3463,0.00,2.45,0.00,0.000,6,0.000,0.035,2414,2804,1614
$GC,3782,1.45,165.2,398.8,9.6,435,3795,0.00,1.90,7.12,0.984,4,0.000,0.068,2415,3793,1576
$GC,3949,1.45,165.2,380.2,12.9,449,3956,0.00,1.75,0.00,0.000,6,0.000,0.044,2414,2787,1575
$GC,4274,1.45,165.2,338.2,11.2,480,4278,0.00,2.50,0.00,0.000,4,0.000,0.059,2414,1402,1575
$GC,4363,1.45,165.2,328.1,11.0,487,4370,0.00,2.40,0.00,0.000,6,0.000,0.035,2415,2801,1575
$GC,4689,1.45,165.2,288.6,12.2,518,4693,0.00,1.77,0.00,0.000,4,0.000,0.059,2415,3791,1574
$GC,4757,1.45,165.2,280.1,12.4,524,4760,0.00,1.70,0.00,0.000,6,0.000,0.034,2414,2790,1574
$GC,5089,1.45,165.2,241.6,11.4,555,5093,0.00,1.80,0.00,0.000,4,0.000,0.055,2415,3791,1574
$GC,5134,1.45,165.2,236.2,11.2,559,5138,0.00,1.67,0.00,0.000,6,0.000,0.033,2415,2798,1573
$GC,5467,1.45,165.2,199.5,11.1,590,5474,0.00,1.77,0.00,0.000,4,0.000,0.054,2414,3789,1573
$GC,5650,1.45,165.2,178.3,11.2,622,5656,0.00,1.67,0.00,0.000,6,0.000,0.032,2415,2793,1573
$GC,5994,1.45,165.2,142.9,10.4,683,6000,0.00,1.77,0.00,0.000,4,0.000,0.053,2415,3791,1572
$GC,6214,1.45,165.2,117.7,11.7,722,6220,0.00,1.65,0.00,0.000,6,0.000,0.032,2414,2800,1572
$GC,6558,1.45,165.2,82.0,10.2,783,6565,0.00,2.47,0.00,0.000,4,0.000,0.052,2415,1403,1572
$GC,6582,1.45,165.2,79.4,10.8,787,6589,0.00,2.38,0.00,0.000,6,0.000,0.032,2414,2807,1572
$GC,6927,1.48,175.6,47.6,9.5,848,6941,0.00,2.55,7.47,0.782,4,0.000,0.049,2415,1404,1533
$GC,6969,1.48,175.6,42.9,11.2,855,6976,0.00,2.40,0.00,0.000,6,0.000,0.032,2415,2800,1533
$GC,7314,1.69,285.0,15.7,5.3,916,7405,0.25,1.85,85.03,0.652,4,0.075,0.053,2471,3786,1088
$STATE,7420,end climb,SURFACE_DEPTH_REACHED
$STATE,7421,begin surface coast
$FINISH,0.2,1.002293
$STATE,7434,end surface coast,CONTROL_FINISHED_OK
$STATE,7434,begin surface
$SM_CCo,7453,51.10,0.631,0,0,721,375.06
$SM_GC,0.68,0.00,0.00,51.10,0.000,0.000,0.631,718,2499,721,-6.40,-0.03,375.06
$RAFOS_CLK,310
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,3629.60,-12156.34,210707,010127
$TT8_MAMPS,0.023777
$HUMID,2486
$INTERNAL_PRESSURE,7.88116
$TCM_TEMP,19.80
$XPDR_PINGS,5
$24V_AH,23.4,7.108
$10V_AH,10.1,1.841
$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,20.000,71.000,351.650,51.100,0.000,0.000,0.000,0.000,1.250,32.831,1871.189,3587.857,518.856,1520.544,117.812,33.318,1288.401,0.000,1480.436,0.000,0.475
$DEVICE_MAMPS,243.906,72.865,984.061,631.241,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,635.260,734.361,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34725,935
$CFSIZE,260165632,257912832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$SOUNDSPEED,1499.6
$CURRENT,0.022,225.4,1
$GPS,210707,000238,3644.555,-12159.398,41,1.8,42,14.8