version: 66.01
glider: 112
mission: 1
dive: 13
start: 7 21 107 13 55 22
data:
$ID,112
$MISSION,1
$DIVE,13
$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,-21193.896
$T_RSLEEP,10
$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,18
$R_STBD_OVSHOOT,9
$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
$GPS1,134727,3639.795,-12204.252,7,1.5,8,14.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-48.0
$GPS2,135415,3639.661,-12204.188,10,1.5,11,14.8
$SPEED_LIMITS,0.173,0.222
$TGT_NAME,BRAVO
$TGT_LATLONG,3639.000,-12208.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.215,0.052
$KALMAN_X,9593.5,2814.7,12.1,-19916.1,24588.9
$KALMAN_Y,-6625.9,-1381.7,-421.5,-4606.0,-8504.9
$MHEAD_RNG_PITCHd_Wd,243.0,5794,-20.5,-9.980
$D_GRID,1349
$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,-155.7,0.0,0.0,0,110,0.00,0.00,-81.78,0.000,2,0.000,0.000,680,3721,2690
$GC,114,-1.11,-155.7,3.1,-3.8,13,148,11.40,0.00,-19.73,0.000,4,0.252,0.000,1983,3721,3437
$GC,297,-1.11,-155.7,28.7,-15.5,44,304,0.00,2.75,0.00,0.000,6,0.000,0.035,1983,2291,3439
$GC,641,-1.11,-155.7,79.0,-12.5,105,647,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,2291,3440
$GC,984,-1.11,-155.7,125.9,-14.4,166,991,0.00,3.03,0.00,0.000,4,0.000,0.082,1983,3712,3440
$GC,1025,-1.11,-155.7,131.7,-13.8,173,1032,0.00,2.70,0.00,0.000,6,0.000,0.036,1984,2297,3440
$GC,1370,-1.11,-155.7,181.5,-14.4,234,1375,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2297,3440
$GC,1702,-1.11,-155.7,229.3,-14.0,276,1707,0.00,3.15,0.00,0.000,4,0.000,0.104,1984,3708,3439
$GC,1734,-1.11,-155.7,234.4,-15.0,278,1741,0.00,2.72,0.00,0.000,6,0.000,0.042,1983,2302,3439
$GC,2062,-1.11,-155.7,281.1,-14.1,309,2067,0.00,3.15,0.00,0.000,4,0.000,0.106,1984,3708,3438
$GC,2139,-1.11,-155.7,292.5,-13.7,315,2146,0.00,2.78,0.00,0.000,6,0.000,0.051,1983,2306,3438
$GC,2468,-1.11,-155.7,332.2,-11.9,346,2473,0.00,3.20,0.00,0.000,4,0.000,0.113,1984,3710,3437
$GC,2500,-1.11,-155.7,336.9,-13.0,348,2507,0.00,2.83,0.00,0.000,6,0.000,0.056,1984,2299,3437
$GC,2829,-1.11,-155.7,377.6,-13.3,379,2834,0.00,3.25,0.00,0.000,4,0.000,0.117,1984,3711,3436
$GC,2869,-1.11,-155.7,383.5,-13.6,382,2874,0.00,2.85,0.00,0.000,6,0.000,0.061,1984,2302,3436
$GC,3194,-1.11,-155.7,427.7,-13.2,412,3195,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,2299,3435
$GC,3516,-1.11,-155.7,468.4,-12.9,442,3521,0.00,3.30,0.00,0.000,4,0.000,0.124,1984,3714,3434
$GC,3583,-1.11,-155.7,477.9,-13.3,447,3590,0.00,2.88,0.00,0.000,6,0.000,0.061,1983,2295,3434
$STATE,3757,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3758,begin apogee
$GC,3766,-0.21,0.0,500.1,12.7,464,3906,1.17,0.00,136.90,1.035,6,0.121,0.000,2182,2721,2800
$STATE,3907,end apogee,CONTROL_FINISHED_OK
$STATE,3907,begin climb
$GC,3910,1.11,155.7,506.8,0.0,471,4060,1.55,2.80,138.07,0.992,4,0.069,0.142,2474,3784,2164
$GC,4153,1.11,155.7,496.2,10.1,483,4157,0.00,2.20,0.00,0.000,6,0.000,0.047,2475,2711,2163
$GC,4482,1.16,181.4,466.6,8.8,513,4511,0.00,2.58,21.83,1.015,4,0.000,0.114,2475,3787,2060
$GC,4524,1.16,181.8,462.2,10.0,517,4528,0.00,2.17,0.00,0.000,6,0.000,0.047,2475,2719,2060
$GC,4852,1.16,181.8,426.0,11.4,547,4856,0.00,2.50,0.00,0.000,4,0.000,0.113,2475,3789,2059
$GC,4929,1.16,181.8,416.1,12.1,553,4936,0.00,2.12,0.00,0.000,6,0.000,0.045,2475,2718,2058
$GC,5257,1.16,184.7,381.4,9.9,584,5269,0.00,3.20,2.03,1.095,4,0.000,0.105,2475,1312,2047
$GC,5297,1.18,197.1,377.2,9.4,587,5315,0.00,2.92,10.62,1.016,6,0.000,0.069,2475,2722,1996
$GC,5633,1.18,197.1,342.0,10.2,619,5634,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2723,1995
$GC,5951,1.18,197.1,310.3,10.6,649,5955,0.00,2.53,0.00,0.000,4,0.000,0.131,2475,3787,1995
$GC,6018,1.18,197.1,302.4,12.0,654,6025,0.00,2.08,0.00,0.000,6,0.000,0.041,2475,2716,1995
$GC,6346,1.18,197.1,265.5,11.5,685,6350,0.00,2.38,0.00,0.000,4,0.000,0.097,2475,3786,1995
$GC,6408,1.18,197.1,257.7,12.6,690,6412,0.00,2.05,0.00,0.000,6,0.000,0.038,2475,2716,1994
$GC,6737,1.18,197.1,223.0,10.2,720,6741,0.00,2.35,0.00,0.000,4,0.000,0.094,2475,3789,1994
$GC,6878,1.18,197.1,207.2,11.0,732,6882,0.00,2.08,0.00,0.000,6,0.000,0.037,2475,2711,1994
$GC,7217,1.18,197.1,172.1,10.7,786,7223,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2711,1994
$GC,7561,1.18,197.1,136.7,10.1,847,7566,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2711,1994
$GC,7904,1.18,197.1,100.1,11.0,908,7911,0.00,2.90,0.00,0.000,4,0.000,0.079,2475,1314,1993
$GC,7968,1.18,197.1,93.1,11.0,919,7974,0.00,2.83,0.00,0.000,6,0.000,0.059,2475,2721,1993
$GC,8312,1.25,237.6,60.4,8.2,980,8351,0.15,2.60,32.67,0.788,4,0.059,0.130,2512,3786,1830
$GC,8414,1.25,237.6,49.6,11.3,997,8420,0.00,2.05,0.00,0.000,6,0.000,0.035,2511,2712,1830
$GC,8758,1.25,237.6,9.4,12.2,1058,8764,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2712,1829
$STATE,8829,end climb,SURFACE_DEPTH_REACHED
$STATE,8829,begin surface coast
$FINISH,1.4,1.004313
$STATE,8847,end surface coast,CONTROL_FINISHED_OK
$STATE,8847,begin surface
$SM_CCo,8869,68.28,0.673,0,0,1372,350.04
$SM_GC,2.23,0.00,0.00,68.28,0.000,0.000,0.673,671,2297,1372,-7.19,-0.08,350.04
$RAFOS_CLK,651
$RAFOS,1,1185034443,16.250000,16.234167,44,43,42,0,0,0,90,63,600,0,0,0
$RAFOS,0,1185033843,16.083334,16.067499,47,42,41,0,0,0,420,64,1157,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,3626.92,-12206.87,210707,171703
$TT8_MAMPS,0.025311
$HUMID,2269
$INTERNAL_PRESSURE,10.7914
$TCM_TEMP,10.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,18.6
$24V_AH,20.5,20.770
$10V_AH,9.9,7.652
$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,23.475,84.650,342.125,68.275,0.000,0.000,0.000,0.000,1.250,12.621,2184.943,4978.833,609.291,1043.201,213.767,33.317,1433.234,0.000,1006.303,720.000,8.665
$DEVICE_MAMPS,251.576,141.895,1094.509,673.426,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,20.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,742.272,856.806,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37897,1074
$CFSIZE,260165632,255356928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1486.7
$CURRENT,0.239,174.8,1
$GPS,210707,162537,3638.344,-12205.395,30,1.2,30,14.8