version: 66.01
glider: 111
mission: 1
dive: 18
start: 7 11 107 9 29 33
data:
$ID,111
$MISSION,1
$DIVE,18
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$D_NO_BLEED,500
$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,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,145
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51339
$NAV_MODE,1
$FERRY_MAX,0
$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,500
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-89006.836
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,722
$PITCH_MAX,3310
$C_PITCH,2220
$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,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,59
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,599
$VBD_MAX,3942
$C_VBD,3345
$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,-2.6466722
$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,-1
$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
$GPS1,092444,4804.211,-12220.104,11,1.4,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-66.3
$GPS2,092833,4804.224,-12220.101,15,1.4,15,18.3
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,FOUR
$TGT_LATLONG,4804.000,-12220.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.047,-0.252
$KALMAN_X,-1473.5,-108.1,-138.9,4762.5,-12.5
$KALMAN_Y,2737.2,156.2,50.3,-7076.5,254.1
$MHEAD_RNG_PITCHd_Wd,151.2,432,-17.8,-10.000
$D_GRID,110
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.47,-141.7,0.0,0.0,0,88,0.00,0.00,-65.65,0.000,2,0.000,0.000,720,2492,3053
$GC,91,-1.47,-141.7,3.1,-6.5,13,133,8.35,2.35,-25.23,0.000,4,0.250,0.070,1894,3776,3924
$GC,161,-1.47,-141.7,11.9,-18.9,26,167,0.00,2.20,0.00,0.000,6,0.000,0.049,1893,2533,3925
$GC,238,-1.47,-141.7,25.8,-17.9,37,239,0.00,0.00,0.00,0.000,6,0.000,0.000,1894,2532,3924
$GC,302,-1.47,-141.7,36.8,-16.9,43,303,0.00,0.00,0.00,0.000,6,0.000,0.000,1894,2532,3924
$GC,365,-1.47,-141.7,47.9,-17.7,49,370,0.00,2.53,0.00,0.000,4,0.000,0.046,1893,1093,3924
$GC,404,-1.47,-141.7,54.9,-18.0,52,409,0.00,2.38,0.00,0.000,6,0.000,0.028,1893,2499,3924
$GC,537,-1.47,-141.7,78.0,-16.7,64,538,0.00,0.00,0.00,0.000,6,0.000,0.000,1894,2500,3925
$GC,665,-1.47,-141.7,100.1,-17.7,76,666,0.00,0.00,0.00,0.000,6,0.000,0.000,1893,2499,3925
$STATE,726,end dive,TARGET_DEPTH_EXCEEDED
$STATE,726,begin apogee
$GC,731,-0.33,0.0,111.1,17.4,82,849,1.40,0.00,111.57,0.680,6,0.160,0.000,2139,2706,3345
$STATE,850,end apogee,CONTROL_FINISHED_OK
$STATE,850,begin climb
$GC,852,1.47,141.7,116.2,0.0,94,968,1.92,1.92,108.45,0.661,4,0.087,0.048,2535,3780,2766
$GC,1220,1.47,141.7,58.1,18.6,127,1227,0.00,1.88,0.00,0.000,6,0.000,0.028,2534,2680,2766
$GC,1354,1.47,141.7,36.3,16.0,140,1355,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2679,2765
$GC,1417,1.47,141.7,25.8,16.5,146,1421,0.00,1.95,0.00,0.000,4,0.000,0.047,2535,3780,2765
$GC,1535,1.47,141.7,6.9,14.6,163,1541,0.00,1.80,0.00,0.000,6,0.000,0.029,2535,2695,2765
$STATE,1591,end climb,SURFACE_DEPTH_REACHED
$STATE,1591,begin surface coast
$FINISH,2.6,1.015895
$STATE,1618,end surface coast,CONTROL_FINISHED_OK
$STATE,1618,begin surface
$SM_CCo,1621,275.95,0.579,0,0,599,673.59
$SM_GC,0.75,8.27,0.00,0.00,0.051,0.000,0.000,723,2489,590,-6.84,-0.31,675.80
$IRIDIUM_FIX,4745.30,-12220.12,110707,121259
$TT8_MAMPS,0.02301
$HUMID,2321
$INTERNAL_PRESSURE,7.70537
$TCM_TEMP,20.40
$XPDR_PINGS,2
$24V_AH,23.6,2.045
$10V_AH,10.1,0.580
$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,19.950,17.600,220.025,275.950,0.000,32.770,49.103,72.194,0.500,15.641,315.064,827.950,553.853,344.275,216.304,33.349,788.714,0.000,339.306,0.000,0.476
$DEVICE_MAMPS,250.042,69.797,679.562,579.085,0.000,103.000,160.000,223.000,420.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,117.634,124.668,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6457,178
$CFSIZE,260165632,241262592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,110707,100408,4804.032,-12219.990,40,1.2,40,18.3