version: 66.01
glider: 111
mission: 1
dive: 6
start: 7 21 107 0 13 15
data:
$ID,111
$MISSION,1
$DIVE,6
$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,-90745.805
$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,30
$R_STBD_OVSHOOT,34
$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
$GPS1,000238,3644.555,-12159.398,41,1.8,42,14.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-44.7
$GPS2,001205,3644.414,-12159.345,11,2.4,30,14.8
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,ONE
$TGT_LATLONG,3644.000,-12205.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.150,0.221
$KALMAN_X,3297.2,631.5,-173.1,-3548.2,1081.5
$KALMAN_Y,-3849.9,-428.2,-145.4,344.9,-2254.2
$MHEAD_RNG_PITCHd_Wd,277.3,8429,-16.9,-9.980
$D_GRID,651
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.44,-155.7,0.0,0.0,0,98,0.00,0.00,-68.70,0.000,2,0.000,0.000,718,2499,2462
$GC,100,-1.44,-155.7,3.3,-7.1,10,122,7.78,0.00,-9.43,0.000,6,0.257,0.000,1788,2499,2887
$GC,460,-1.44,-155.7,76.6,-18.3,73,466,0.00,2.30,0.00,0.000,4,0.000,0.051,1788,3788,2890
$GC,659,-1.44,-155.7,113.6,-19.2,108,666,0.00,2.25,0.00,0.000,6,0.000,0.048,1788,2505,2891
$GC,1004,-1.44,-155.7,177.6,-18.7,169,1011,0.00,2.53,0.00,0.000,4,0.000,0.056,1788,1094,2892
$GC,1056,-1.44,-155.7,187.4,-19.0,178,1063,0.00,2.38,0.00,0.000,6,0.000,0.029,1788,2513,2892
$GC,1391,-1.44,-155.7,250.8,-18.7,215,1392,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,2517,2892
$GC,1710,-1.44,-155.7,310.3,-18.9,245,1714,0.00,2.58,0.00,0.000,4,0.000,0.058,1788,1089,2892
$GC,1749,-1.44,-155.7,317.7,-19.7,248,1753,0.00,2.38,0.00,0.000,6,0.000,0.031,1788,2500,2892
$GC,2074,-1.44,-155.7,377.4,-17.9,278,2079,0.00,2.55,0.00,0.000,4,0.000,0.061,1788,1095,2892
$GC,2148,-1.44,-155.7,390.5,-17.6,284,2152,0.00,2.38,0.00,0.000,6,0.000,0.030,1788,2504,2892
$GC,2473,-1.44,-155.7,448.0,-18.2,314,2478,0.00,2.58,0.00,0.000,4,0.000,0.068,1788,1098,2891
$GC,2506,-1.44,-155.7,454.3,-17.9,316,2514,0.00,2.40,0.00,0.000,6,0.000,0.032,1788,2493,2892
$STATE,2776,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2776,begin apogee
$GC,2781,-0.33,0.0,501.5,17.4,342,2919,1.42,0.00,129.60,0.992,6,0.178,0.000,2030,2794,2250
$STATE,2920,end apogee,CONTROL_FINISHED_OK
$STATE,2920,begin climb
$GC,2922,1.44,155.7,508.0,0.0,349,3056,1.95,2.00,126.00,0.964,4,0.109,0.084,2420,3790,1615
$GC,3136,1.44,155.7,493.6,13.0,360,3140,0.00,1.83,0.00,0.000,6,0.000,0.067,2420,2797,1614
$GC,3467,1.44,155.7,455.2,11.1,391,3471,0.00,2.58,0.00,0.000,4,0.000,0.063,2420,1391,1613
$GC,3521,1.44,155.7,448.6,11.8,395,3529,0.00,2.45,0.00,0.000,6,0.000,0.035,2421,2810,1613
$GC,3848,1.44,155.7,411.6,11.8,426,3849,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2810,1612
$GC,4165,1.44,155.7,375.3,10.9,456,4166,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2810,1612
$GC,4484,1.44,155.7,339.3,11.0,486,4488,0.00,2.58,0.00,0.000,4,0.000,0.057,2420,1392,1611
$GC,4601,1.44,155.7,326.9,10.5,496,4606,0.00,2.40,0.00,0.000,6,0.000,0.033,2420,2801,1610
$GC,4927,1.44,155.7,293.6,10.5,526,4931,0.00,1.77,0.00,0.000,4,0.000,0.059,2420,3793,1610
$GC,4995,1.44,155.7,286.1,10.9,532,4998,0.00,1.70,0.00,0.000,6,0.000,0.032,2420,2789,1610
$GC,5327,1.44,155.7,251.3,10.7,563,5331,0.00,1.80,0.00,0.000,4,0.000,0.054,2420,3794,1610
$GC,5395,1.44,155.7,243.2,11.9,569,5399,0.00,1.67,0.00,0.000,6,0.000,0.033,2420,2801,1609
$GC,5726,1.44,155.7,208.9,10.5,600,5727,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2801,1609
$GC,6056,1.44,155.7,174.5,10.6,651,6063,0.00,1.77,0.00,0.000,4,0.000,0.054,2420,3795,1609
$GC,6125,1.44,155.7,166.7,11.7,663,6132,0.00,1.67,0.00,0.000,6,0.000,0.032,2420,2796,1609
$GC,6469,1.44,155.7,128.9,11.4,724,6476,0.00,1.77,0.00,0.000,4,0.000,0.052,2420,3792,1609
$GC,6572,1.44,155.7,117.5,11.2,742,6578,0.00,1.67,0.00,0.000,6,0.000,0.032,2420,2792,1609
$GC,6916,1.48,179.4,83.4,9.0,803,6935,0.00,0.00,17.33,0.765,6,0.000,0.000,2420,2792,1518
$GC,7272,1.48,179.4,47.0,10.5,866,7279,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2793,1518
$GC,7616,1.51,190.7,14.9,9.5,927,7630,0.00,1.80,8.45,0.738,4,0.000,0.051,2420,3793,1471
$STATE,7747,end climb,SURFACE_DEPTH_REACHED
$STATE,7747,begin surface coast
$FINISH,0.1,1.017772
$STATE,7765,end surface coast,CONTROL_FINISHED_OK
$STATE,7765,begin surface
$SM_CCo,7783,98.78,0.635,0,0,721,375.06
$SM_GC,0.88,0.00,0.00,98.78,0.000,0.000,0.635,717,2496,721,-6.41,-0.11,375.06
$RAFOS_CLK,321
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,3629.60,-12138.39,210707,010122
$TT8_MAMPS,0.023777
$HUMID,2570
$INTERNAL_PRESSURE,7.89093
$TCM_TEMP,19.80
$XPDR_PINGS,7
$24V_AH,23.4,7.226
$10V_AH,10.1,1.900
$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,19.225,56.550,281.375,98.775,0.000,39.211,50.081,321.934,1.750,31.164,1949.684,3905.421,485.198,1540.612,590.194,33.340,1246.884,0.000,1502.325,0.000,0.474
$DEVICE_MAMPS,256.945,83.603,991.731,635.076,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,650.930,750.004,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34737,953
$CFSIZE,260165632,257880064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$SOUNDSPEED,1499.7
$CURRENT,0.019,182.4,1
$GPS,210707,022553,3644.635,-12200.478,14,3.2,34,14.8