version: 66.01
glider: 112
mission: 1
dive: 3
start: 7 20 107 20 18 3
data:
$ID,112
$MISSION,1
$DIVE,3
$D_SURF,2
$D_FLARE,3
$D_TGT,500
$D_ABORT,1090
$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,0.1
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51814
$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,350
$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,-20391.115
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,0.2
$RAFOS_CORR_THRESH,80
$RAFOS_HIT_WINDOW,5400
$PITCH_MIN,679
$PITCH_MAX,3252
$C_PITCH,2235
$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,0.5
$ROLL_MIN,166
$ROLL_MAX,3791
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,486
$VBD_MAX,3897
$C_VBD,2800
$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,-3.6470764
$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,0
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043712994
$SEABIRD_T_H,0.00064806995
$SEABIRD_T_I,2.9318924e-05
$SEABIRD_T_J,3.4945006e-06
$SEABIRD_C_G,-10.125542
$SEABIRD_C_H,1.1422628
$SEABIRD_C_I,-0.00066794927
$SEABIRD_C_J,0.00014236888
$GPS1,201137,3645.821,-12158.761,13,1.8,29,14.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-49.7
$GPS2,201657,3645.762,-12158.688,14,1.5,14,14.8
$SPEED_LIMITS,0.173,0.222
$TGT_NAME,ALPHA
$TGT_LATLONG,3645.000,-12202.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.219,0.032
$KALMAN_X,681.1,457.8,402.0,-891.3,683.8
$KALMAN_Y,-576.3,-312.2,-259.9,-563.1,-757.5
$MHEAD_RNG_PITCHd_Wd,239.2,5114,-20.5,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-1.11,-155.7,0.0,0.0,0,85,0.00,0.00,-56.78,0.000,2,0.000,0.000,670,2326,2851
$GC,89,-1.11,-155.7,3.4,-5.0,9,122,10.57,2.90,-14.30,0.000,4,0.231,0.089,1984,3688,3437
$GC,274,-1.11,-155.7,30.8,-15.0,41,281,0.00,2.67,0.00,0.000,6,0.000,0.035,1985,2291,3440
$GC,618,-1.11,-155.7,77.0,-13.2,102,624,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,2291,3441
$GC,964,-1.11,-155.7,122.3,-12.0,163,971,0.00,2.83,0.00,0.000,4,0.000,0.070,1984,900,3441
$GC,1000,-1.11,-155.7,127.3,-13.4,169,1006,0.00,2.67,0.00,0.000,6,0.000,0.043,1985,2283,3441
$GC,1344,-1.11,-155.7,171.4,-13.3,230,1350,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,2283,3441
$GC,1686,-1.11,-155.7,216.9,-13.2,280,1690,0.00,2.78,0.00,0.000,4,0.000,0.061,1985,900,3441
$GC,1714,-1.11,-155.7,220.7,-14.1,282,1719,0.00,2.78,0.00,0.000,6,0.000,0.053,1985,2303,3441
$GC,2039,-1.11,-155.7,263.5,-12.9,312,2040,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,2302,3440
$GC,2358,-1.11,-155.7,303.8,-12.9,342,2359,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,2303,3440
$GC,2676,-1.11,-155.7,343.3,-12.6,372,2677,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,2302,3439
$GC,2995,-1.11,-155.7,383.1,-12.1,402,2999,0.00,2.97,0.00,0.000,4,0.000,0.085,1984,902,3438
$GC,3061,-1.11,-155.7,391.7,-13.0,407,3067,0.00,2.90,0.00,0.000,6,0.000,0.074,1984,2299,3438
$GC,3386,-1.11,-155.7,430.8,-11.7,438,3391,0.00,3.58,0.00,0.000,4,0.000,0.153,1985,3710,3437
$GC,3419,-1.11,-155.7,435.0,-12.4,440,3426,0.00,2.83,0.00,0.000,6,0.000,0.061,1984,2311,3437
$GC,3744,-1.11,-155.7,471.4,-10.9,471,3749,0.00,3.22,0.00,0.000,4,0.000,0.115,1984,3711,3437
$GC,3799,-1.11,-155.7,478.1,-12.5,475,3806,0.00,2.85,0.00,0.000,6,0.000,0.058,1985,2300,3436
$STATE,3963,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3963,begin apogee
$GC,3971,-0.21,0.0,500.1,13.8,491,4113,1.20,0.00,138.05,1.040,6,0.120,0.000,2186,2709,2800
$STATE,4114,end apogee,CONTROL_FINISHED_OK
$STATE,4114,begin climb
$GC,4117,1.11,155.7,508.9,0.0,498,4267,1.50,2.72,138.27,0.996,4,0.067,0.131,2475,3784,2165
$GC,4309,1.18,193.0,505.7,8.3,506,4346,0.00,2.25,32.72,0.988,6,0.000,0.044,2475,2695,2013
$GC,4671,1.18,193.0,467.4,11.4,538,4672,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2695,2012
$GC,4990,1.18,193.0,431.0,11.2,568,4994,0.00,3.08,0.00,0.000,4,0.000,0.094,2475,1287,2011
$GC,5041,1.18,193.0,425.0,12.0,572,5045,0.00,2.95,0.00,0.000,6,0.000,0.067,2475,2703,2011
$GC,5368,1.18,193.0,389.6,10.8,602,5369,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2704,2011
$GC,5684,1.18,193.0,355.5,11.0,632,5688,0.00,2.92,0.00,0.000,4,0.000,0.070,2475,1289,2010
$GC,5757,1.18,193.0,347.4,10.8,638,5762,0.00,2.90,0.00,0.000,6,0.000,0.063,2475,2706,2010
$GC,6086,1.18,193.0,312.5,10.4,668,6090,0.00,2.60,0.00,0.000,4,0.000,0.133,2475,3791,2009
$GC,6140,1.18,193.0,305.7,11.5,672,6147,0.00,2.12,0.00,0.000,6,0.000,0.040,2475,2690,2009
$GC,6468,1.18,193.0,272.7,10.5,703,6469,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2690,2009
$GC,6784,1.18,193.0,240.6,10.4,733,6785,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2690,2009
$GC,7102,1.18,193.0,207.9,10.3,763,7103,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2690,2008
$GC,7434,1.18,194.8,174.8,9.9,815,7441,0.00,2.40,0.00,0.000,4,0.000,0.091,2475,3787,2008
$GC,7503,1.18,194.8,167.6,10.2,827,7510,0.00,2.08,0.00,0.000,6,0.000,0.037,2475,2692,2008
$GC,7848,1.18,194.8,132.0,10.7,888,7854,0.00,2.38,0.00,0.000,4,0.000,0.091,2475,3786,2008
$GC,7912,1.18,194.8,124.9,10.9,899,7918,0.00,2.08,0.00,0.000,6,0.000,0.035,2475,2700,2008
$GC,8257,1.19,201.3,91.0,9.7,960,8270,0.00,2.88,6.18,0.875,4,0.000,0.074,2475,1296,1978
$GC,8400,1.19,201.3,76.3,10.1,985,8407,0.00,2.83,0.00,0.000,6,0.000,0.054,2475,2710,1978
$GC,8745,1.23,225.4,43.7,8.9,1046,8771,0.15,2.92,19.42,0.791,4,0.060,0.059,2511,1296,1881
$GC,8794,1.23,225.4,38.4,12.1,1054,8801,0.00,2.83,0.00,0.000,6,0.000,0.054,2511,2706,1881
$GC,9139,1.24,233.7,2.2,9.6,1115,9147,0.00,0.00,5.70,0.785,2,0.000,0.000,2511,2706,1851
$STATE,9148,end climb,SURFACE_DEPTH_REACHED
$STATE,9148,begin surface coast
$FINISH,1.3,1.024113
$STATE,9169,end surface coast,CONTROL_FINISHED_OK
$STATE,9169,begin surface
$SM_CCo,9191,61.03,0.683,0,0,1373,350.04
$SM_GC,2.18,0.00,0.00,61.03,0.000,0.000,0.683,671,2281,1373,-7.19,-0.54,350.04
$RAFOS_CLK,489
$RAFOS,5,1184964846,20.916666,20.901667,44,43,43,0,0,0,285,96,1061,0,0,0
$RAFOS,4,1184964249,20.750000,20.735834,40,38,38,0,0,0,101,346,865,0,0,0
$RAFOS,3,1184963641,20.583334,20.566944,44,44,40,0,0,0,181,463,64,0,0,0
$RAFOS,2,1184963046,20.416666,20.401667,45,43,41,0,0,0,439,1068,271,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,3632.29,-12157.76,210707,000002
$TT8_MAMPS,0.025311
$HUMID,2351
$INTERNAL_PRESSURE,10.8012
$TCM_TEMP,10.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,18.5
$24V_AH,20.4,19.362
$10V_AH,9.9,7.234
$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,22.675,78.625,340.350,61.025,0.000,0.000,0.000,0.000,1.250,16.336,2261.075,5251.881,560.512,1059.272,216.484,31.408,1388.750,0.000,1027.385,1440.000,8.664
$DEVICE_MAMPS,230.867,153.400,1040.052,683.397,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,20.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,775.079,907.865,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,40975,1120
$CFSIZE,260165632,255684608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1486.1
$CURRENT,0.049,198.5,1
$GPS,200707,225338,3645.240,-12200.091,37,1.4,37,14.8