version: 66.01
glider: 112
mission: 1
dive: 5
start: 7 21 107 1 52 53
data:
$ID,112
$MISSION,1
$DIVE,5
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$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,330
$T_MISSION,360
$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,-20422.725
$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,2720
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,8
$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
$GPS1,014126,3645.789,-12201.177,39,1.5,39,14.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-48.4
$GPS2,015144,3645.686,-12201.146,8,1.4,13,14.8
$SPEED_LIMITS,0.173,0.222
$TGT_NAME,BRAVO
$TGT_LATLONG,3639.000,-12208.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.191,-0.113
$KALMAN_X,1962.4,458.8,-374.8,-5040.8,917.3
$KALMAN_Y,-2434.4,-527.4,236.3,842.2,-707.8
$MHEAD_RNG_PITCHd_Wd,231.7,16031,-20.5,-10.000
$D_GRID,760
$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,28,-1.12,-155.7,0.0,0.0,0,80,0.00,0.00,-49.62,0.000,2,0.000,0.000,674,2290,2639
$GC,84,-1.12,-155.7,3.3,-4.1,8,124,10.85,3.15,-22.40,0.000,4,0.235,0.090,1988,3711,3437
$GC,282,-1.12,-155.7,32.8,-13.7,42,288,0.00,2.75,0.00,0.000,6,0.000,0.035,1987,2290,3439
$GC,626,-1.12,-155.7,81.0,-13.6,103,631,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,2290,3441
$GC,969,-1.12,-155.7,125.9,-13.7,164,976,0.00,2.88,0.00,0.000,4,0.000,0.072,1987,894,3379
$GC,1016,-1.12,-155.7,132.4,-13.9,172,1024,0.00,2.75,-1.40,0.000,6,0.000,0.042,1987,2305,3422
$GC,1362,-1.12,-155.7,184.6,-14.4,233,1368,0.00,3.25,0.00,0.000,4,0.000,0.117,1988,3710,3706
$GC,1414,-1.12,-155.7,192.1,-14.0,242,1421,0.00,2.72,0.00,0.000,6,0.000,0.039,1987,2293,3706
$GC,1749,-1.12,-155.7,238.7,-13.8,278,1753,0.00,2.95,0.00,0.000,4,0.000,0.082,1988,894,3688
$GC,1800,-1.12,-155.7,246.0,-14.6,282,1804,0.00,2.80,0.00,0.000,6,0.000,0.056,1987,2296,3706
$GC,2127,-1.12,-155.7,292.3,-14.3,312,2132,0.00,3.45,0.00,0.000,4,0.000,0.139,1987,3710,3706
$GC,2156,-1.12,-155.7,296.6,-14.0,314,2160,0.00,2.80,0.00,0.000,6,0.000,0.050,1988,2304,3706
$GC,2483,-1.12,-155.7,341.7,-14.4,344,2488,0.00,3.30,0.00,0.000,4,0.000,0.122,1988,3708,3706
$GC,2516,-1.12,-155.7,347.1,-15.0,346,2522,0.00,2.85,0.00,0.000,6,0.000,0.059,1987,2298,3706
$GC,2843,-1.12,-155.7,392.5,-13.1,377,2844,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,2297,3706
$GC,3163,-1.12,-155.7,433.1,-12.8,407,3168,0.00,3.30,0.00,0.000,4,0.000,0.122,1988,3707,3705
$GC,3207,-1.12,-155.7,439.6,-13.2,410,3214,0.00,2.88,0.00,0.000,6,0.000,0.064,1988,2302,3705
$GC,3532,-1.12,-155.7,482.9,-13.2,441,3533,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,2300,3705
$GC,3845,-1.12,-155.7,525.1,-13.1,462,3846,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,2299,3704
$GC,4154,-1.12,-155.7,566.5,-13.7,477,4159,0.00,3.30,0.00,0.000,4,0.000,0.120,1987,3711,3704
$GC,4181,-1.12,-155.7,570.7,-14.6,478,4186,0.00,2.88,0.00,0.000,6,0.000,0.061,1988,2297,3704
$GC,4497,-1.12,-155.7,611.2,-12.3,493,4498,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,2297,3703
$GC,4807,-1.12,-155.7,647.1,-11.5,508,4808,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,2296,3702
$GC,5116,-1.12,-155.7,684.6,-12.2,523,5121,0.00,3.30,0.00,0.000,4,0.000,0.117,1988,3712,3702
$GC,5178,-1.12,-155.7,692.4,-12.7,526,5183,0.00,2.88,0.00,0.000,6,0.000,0.059,1988,2294,3701
$GC,5505,-1.12,-155.7,735.2,-13.6,542,5506,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,2294,3700
$STATE,5687,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5687,begin apogee
$GC,5696,-0.21,0.0,760.5,13.2,551,5904,1.15,0.00,204.90,1.206,6,0.115,0.000,2183,2731,2800
$STATE,5905,end apogee,CONTROL_FINISHED_OK
$STATE,5905,begin climb
$GC,5908,1.12,155.7,772.5,0.0,561,6062,1.55,2.75,144.82,1.162,4,0.067,0.136,2474,3781,2165
$GC,6131,1.12,155.7,763.6,10.8,572,6136,0.00,2.22,0.00,0.000,6,0.000,0.044,2474,2707,2164
$GC,6447,1.12,155.7,731.3,10.3,587,6452,0.00,3.15,0.00,0.000,4,0.000,0.099,2474,1312,2163
$GC,6480,1.12,155.7,727.9,10.3,588,6487,0.00,2.97,0.00,0.000,6,0.000,0.065,2474,2715,2164
$GC,6796,1.12,155.7,694.5,11.1,604,6797,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2715,2163
$GC,7105,1.12,155.7,660.1,10.8,619,7106,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2716,2163
$GC,7414,1.12,155.7,627.1,10.3,634,7419,0.00,2.60,0.00,0.000,4,0.000,0.134,2475,3787,2161
$GC,7455,1.12,155.7,622.8,10.9,636,7458,0.00,2.12,0.00,0.000,6,0.000,0.044,2475,2713,2162
$GC,7782,1.12,155.7,591.4,10.0,652,7786,0.00,3.12,0.00,0.000,4,0.000,0.100,2475,1302,2162
$GC,7844,1.12,155.7,584.5,10.7,655,7849,0.00,2.95,0.00,0.000,6,0.000,0.067,2475,2722,2161
$GC,8170,1.12,155.7,549.9,10.6,671,8171,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2722,2161
$GC,8483,1.13,167.5,518.2,9.5,686,8497,0.00,2.58,9.27,1.180,4,0.000,0.137,2475,3790,2117
$GC,8611,1.13,167.5,504.4,10.6,691,8615,0.00,2.12,0.00,0.000,6,0.000,0.044,2475,2710,2116
$GC,8938,1.13,167.5,472.5,10.4,719,8943,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2710,2116
$GC,9264,1.16,183.2,440.2,9.3,750,9286,0.00,3.08,13.52,1.097,4,0.000,0.096,2474,1304,2052
$GC,9314,1.16,183.2,435.0,10.3,754,9321,0.00,2.92,0.00,0.000,6,0.000,0.067,2475,2718,2052
$GC,9642,1.16,183.2,401.1,10.7,785,9643,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2718,2052
$GC,9957,1.16,183.2,367.6,10.1,815,9958,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2720,2052
$GC,10281,1.19,197.9,336.7,9.3,845,10298,0.00,0.00,12.50,1.022,6,0.000,0.000,2475,2721,1993
$GC,10619,1.19,197.9,301.5,10.6,877,10623,0.00,2.50,0.00,0.000,4,0.000,0.126,2474,3787,1993
$GC,10658,1.19,197.9,296.9,11.5,880,10662,0.00,2.08,0.00,0.000,6,0.000,0.039,2474,2714,1993
$GC,10983,1.19,197.9,259.9,12.4,910,10984,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2714,1993
$GC,11304,1.19,197.9,223.3,11.1,940,11309,0.00,2.95,0.00,0.000,4,0.000,0.082,2475,1311,1992
$GC,11333,1.19,197.9,219.8,11.9,942,11337,0.00,2.83,0.00,0.000,6,0.000,0.056,2475,2723,1993
$GC,11666,1.19,197.9,182.4,10.1,986,11673,0.00,2.90,0.00,0.000,4,0.000,0.067,2475,1312,1992
$GC,11707,1.19,197.9,178.0,10.5,993,11714,0.00,2.80,0.00,0.000,6,0.000,0.054,2474,2720,1993
$GC,12052,1.21,210.3,143.4,9.4,1054,12065,0.12,0.00,10.50,0.884,6,0.064,0.000,2501,2720,1942
$GC,12403,1.21,210.3,104.2,11.3,1116,12409,0.00,2.47,0.00,0.000,4,0.000,0.123,2502,3789,1909
$GC,12570,1.21,210.3,84.1,12.6,1145,12577,0.00,2.05,0.00,0.000,6,0.000,0.038,2501,2711,1942
$GC,12915,1.21,210.3,46.5,10.9,1206,12921,0.00,2.35,0.00,0.000,4,0.000,0.093,2501,3788,1897
$GC,13052,1.21,213.2,32.7,9.9,1230,13059,0.00,2.05,2.50,0.877,6,0.000,0.036,2501,2710,1931
$STATE,13349,end climb,SURFACE_DEPTH_REACHED
$STATE,13349,begin surface coast
$FINISH,1.6,1.025399
$STATE,13367,end surface coast,CONTROL_FINISHED_OK
$STATE,13367,begin surface
$SM_CCo,13389,75.32,0.680,0,0,1372,350.04
$SM_GC,2.12,0.00,0.00,75.32,0.000,0.000,0.680,672,2287,1372,-7.19,-0.37,350.04
$RAFOS_CLK,688
$RAFOS,5,1184993647,4.916667,4.901945,44,41,40,0,0,0,940,64,886,0,0,0
$RAFOS,4,1184993045,4.750000,4.734722,44,44,41,0,0,0,224,373,924,0,0,0
$RAFOS,3,1184992451,4.583333,4.569722,41,40,39,0,0,0,384,94,1148,0,0,0
$RAFOS,2,1184991841,4.416667,4.400278,49,45,43,0,0,0,314,127,63,0,0,0
$RAFOS,1,1184991249,4.250000,4.235833,40,39,38,0,0,0,64,748,1070,0,0,0
$RAFOS,0,1184990651,4.083333,4.069722,50,41,38,0,0,0,817,63,922,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,3629.60,-12200.04,210707,020241
$TT8_MAMPS,0.025311
$HUMID,2273
$INTERNAL_PRESSURE,10.7719
$TCM_TEMP,10.70
$XPDR_PINGS,1
$ALTIM_TOP_PING,20.0,19.7
$24V_AH,20.1,19.678
$10V_AH,9.9,7.376
$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,22.725,113.525,398.025,75.325,0.000,38.166,33.952,341.635,2.500,14.966,2690.238,8673.062,666.227,1259.378,781.558,33.334,1650.663,0.000,1204.210,2160.000,18.850
$DEVICE_MAMPS,234.702,138.827,1206.491,679.562,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,20.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,892.281,1050.107,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47313,1286
$CFSIZE,260165632,255561728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1485.7
$CURRENT,0.096,182.0,1
$GPS,210707,053838,3644.325,-12203.173,33,1.3,33,14.8