version: 66.01
glider: 112
mission: 1
dive: 4
start: 7 20 107 23 8 47
data:
$ID,112
$MISSION,1
$DIVE,4
$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,-20407.129
$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,27
$R_STBD_OVSHOOT,10
$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
$GPS1,225338,3645.240,-12200.091,37,1.4,37,14.8
$_CALLS,1
$_XMS_NAKs,34
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-48.9
$GPS2,230737,3645.042,-12159.955,9,1.5,13,14.8
$SPEED_LIMITS,0.173,0.222
$TGT_NAME,ALPHA
$TGT_LATLONG,3645.000,-12202.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.196,0.104
$KALMAN_X,1143.9,625.6,103.0,-3093.9,-100.7
$KALMAN_Y,-2206.0,-489.1,-102.1,-260.4,-1096.5
$MHEAD_RNG_PITCHd_Wd,298.7,3035,-20.5,-9.980
$D_GRID,756
$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,-1.11,-155.7,0.0,0.0,0,76,0.00,0.00,-48.15,0.000,2,0.000,0.000,670,2281,2617
$GC,79,-1.11,-155.7,3.2,-3.7,8,119,10.73,2.90,-23.05,0.000,4,0.230,0.067,1988,897,3436
$GC,143,-1.11,-155.7,9.9,-11.9,18,149,0.00,2.75,0.00,0.000,6,0.000,0.041,1988,2305,3436
$GC,487,-1.11,-155.7,58.5,-13.7,79,494,0.00,3.10,0.00,0.000,4,0.000,0.097,1988,3705,3418
$GC,546,-1.11,-155.7,66.7,-14.1,89,552,0.00,2.70,0.00,0.000,6,0.000,0.035,1988,2295,3440
$GC,890,-1.11,-155.7,116.0,-14.3,150,896,0.00,2.85,0.00,0.000,4,0.000,0.070,1988,902,3441
$GC,942,-1.11,-155.7,123.4,-14.5,159,949,0.00,2.70,0.00,0.000,6,0.000,0.042,1988,2299,3441
$GC,1287,-1.11,-155.7,169.3,-12.7,220,1293,0.00,2.83,0.00,0.000,4,0.000,0.058,1988,898,3442
$GC,1328,-1.11,-155.7,174.6,-13.0,227,1335,0.00,2.72,0.00,0.000,6,0.000,0.047,1988,2295,3442
$GC,1665,-1.11,-155.7,218.1,-12.5,275,1670,0.00,3.33,0.00,0.000,4,0.000,0.126,1988,3705,3442
$GC,1716,-1.11,-155.7,224.7,-12.4,279,1720,0.00,2.72,0.00,0.000,6,0.000,0.041,1988,2300,3442
$GC,2043,-1.11,-155.7,267.4,-13.1,309,2044,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,2299,3442
$GC,2359,-1.11,-155.7,308.7,-12.8,339,2364,0.00,3.33,0.00,0.000,4,0.000,0.123,1988,3711,3441
$GC,2436,-1.11,-155.7,318.9,-12.6,345,2443,0.00,2.80,0.00,0.000,6,0.000,0.051,1988,2300,3442
$GC,2765,-1.11,-155.7,360.5,-12.1,376,2770,0.00,3.33,0.00,0.000,4,0.000,0.123,1988,3711,3441
$GC,2794,-1.11,-155.7,364.4,-12.8,378,2799,0.00,2.85,0.00,0.000,6,0.000,0.058,1989,2302,3441
$GC,3119,-1.11,-155.7,402.9,-12.0,408,3120,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,2301,3439
$GC,3438,-1.11,-155.7,440.2,-12.5,438,3439,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,2299,3439
$GC,3756,-1.11,-155.7,480.8,-12.1,468,3761,0.00,3.28,0.00,0.000,4,0.000,0.118,1988,3705,3438
$GC,3800,-1.11,-155.7,486.2,-11.9,471,3807,0.00,2.88,0.00,0.000,6,0.000,0.061,1988,2293,3438
$STATE,3925,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3925,begin apogee
$GC,3933,-0.21,0.0,500.1,11.5,483,4076,1.17,0.00,138.70,1.036,6,0.120,0.000,2186,2709,2800
$STATE,4077,end apogee,CONTROL_FINISHED_OK
$STATE,4077,begin climb
$GC,4080,1.11,155.7,506.0,0.0,490,4229,1.52,2.78,138.93,0.992,4,0.066,0.133,2476,3784,2164
$GC,4301,1.12,159.0,496.9,9.8,501,4313,0.00,2.25,2.90,1.050,6,0.000,0.046,2476,2689,2151
$GC,4631,1.14,170.9,463.5,9.4,532,4646,0.00,2.62,9.75,1.032,4,0.000,0.116,2476,3783,2103
$GC,4732,1.14,170.9,453.0,11.4,541,4736,0.00,2.17,0.00,0.000,6,0.000,0.046,2476,2698,2103
$GC,5057,1.14,170.9,420.1,10.1,571,5058,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2698,2102
$GC,5378,1.15,176.1,387.6,9.7,601,5386,0.00,0.00,4.05,1.072,6,0.000,0.000,2476,2698,2082
$GC,5707,1.17,191.9,356.1,9.3,632,5730,0.00,2.60,13.52,1.006,4,0.000,0.112,2475,3787,2017
$GC,5765,1.17,191.9,349.9,10.8,637,5769,0.00,2.17,0.00,0.000,6,0.000,0.044,2476,2690,2016
$GC,6093,1.17,191.9,315.7,10.6,667,6099,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2690,2016
$GC,6418,1.17,191.9,281.8,10.1,698,6423,0.00,2.95,0.00,0.000,4,0.000,0.082,2476,1290,2016
$GC,6480,1.17,191.9,275.1,11.3,703,6485,0.00,2.85,0.00,0.000,6,0.000,0.057,2476,2698,2016
$GC,6805,1.17,191.9,241.2,10.2,733,6809,0.00,2.55,0.00,0.000,4,0.000,0.127,2476,3783,2015
$GC,6860,1.17,191.9,235.2,10.7,737,6867,0.00,2.10,0.00,0.000,6,0.000,0.036,2476,2688,2015
$GC,7188,1.20,205.0,203.9,9.4,768,7205,0.00,0.00,10.45,0.930,6,0.000,0.000,2476,2688,1964
$GC,7541,1.21,215.1,170.4,9.5,828,7555,0.12,2.47,8.50,0.907,4,0.063,0.088,2502,3791,1922
$GC,7606,1.21,215.1,163.0,11.9,839,7613,0.00,2.10,0.00,0.000,6,0.000,0.037,2502,2700,1922
$GC,7951,1.21,215.1,121.7,11.2,900,7957,0.00,2.92,0.00,0.000,4,0.000,0.078,2502,1298,1922
$GC,8031,1.21,215.1,112.0,12.3,914,8038,0.00,2.85,0.00,0.000,6,0.000,0.057,2502,2709,1922
$GC,8376,1.21,215.1,70.0,12.3,975,8383,0.00,2.88,0.00,0.000,4,0.000,0.063,2502,1293,1922
$GC,8423,1.21,215.1,64.1,12.6,983,8430,0.00,2.83,0.00,0.000,6,0.000,0.054,2502,2702,1922
$GC,8768,1.21,215.1,23.8,10.5,1044,8774,0.00,2.60,0.00,0.000,4,0.000,0.135,2502,3785,1899
$STATE,8963,end climb,SURFACE_DEPTH_REACHED
$STATE,8963,begin surface coast
$FINISH,1.4,1.020999
$STATE,8976,end surface coast,CONTROL_FINISHED_OK
$STATE,8976,begin surface
$SM_CCo,9000,72.07,0.684,0,0,1372,350.04
$SM_GC,2.13,0.00,0.00,72.07,0.000,0.000,0.684,674,2291,1372,-7.18,-0.25,350.04
$RAFOS_CLK,454
$RAFOS,5,1184979246,0.916667,0.901667,46,43,42,0,0,0,775,84,1045,0,0,0
$RAFOS,4,1184978642,0.750000,0.733889,53,47,41,0,0,0,64,91,1052,0,0,0
$RAFOS,3,1184978044,0.583333,0.567778,42,41,40,0,0,0,63,686,151,0,0,0
$RAFOS,2,1184977448,0.416667,0.402222,44,43,42,0,0,0,390,184,1114,0,0,0
$RAFOS,1,1184976848,0.250000,0.235556,42,41,39,0,0,0,223,64,364,0,0,0
$RAFOS,0,1184976244,0.083333,0.067778,43,43,42,0,0,0,486,639,64,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,3632.29,-12157.76,210707,000042
$TT8_MAMPS,0.024544
$HUMID,2317
$INTERNAL_PRESSURE,10.7817
$TCM_TEMP,10.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,17.9
$24V_AH,20.4,19.507
$10V_AH,9.9,7.300
$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,22.625,94.600,326.800,72.075,0.000,37.295,29.543,539.860,1.250,15.383,2216.514,5120.602,580.143,1034.204,951.143,32.356,1395.314,0.000,999.572,2160.000,10.964
$DEVICE_MAMPS,230.100,134.992,1072.266,684.164,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,20.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,747.157,873.456,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37865,1081
$CFSIZE,260165632,255647744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1486.2
$CURRENT,0.037,281.1,1
$GPS,210707,014126,3645.789,-12201.177,39,1.5,39,14.8