version: 66.01
glider: 112
mission: 1
dive: 26
start: 7 22 107 8 22 37
data:
$ID,112
$MISSION,1
$DIVE,26
$D_SURF,2
$D_FLARE,3
$D_TGT,500
$D_ABORT,1090
$D_NO_BLEED,50
$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,115
$T_MISSION,140
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51814
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038775599
$HD_B,0.0138418
$HD_C,4.7289599e-05
$HEADING,345
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-21695.666
$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,16
$R_STBD_OVSHOOT,7
$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,75
$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
$GPS1,081808,3629.898,-12207.020,11,1.3,11,14.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-49.5
$GPS2,082139,3629.815,-12207.066,10,1.6,10,14.7
$SPEED_LIMITS,0.251,0.278
$TGT_NAME,HEADING
$TGT_LATLONG,3640.246,-12209.309
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.128,0.261
$KALMAN_X,10230.5,-4251.8,942.3,-15459.8,-901.5
$KALMAN_Y,-28436.5,-116.8,-166.7,125.3,-1889.4
$MHEAD_RNG_PITCHd_Wd,330.3,20000,-24.8,-14.493
$D_GRID,1020
$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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,33,-1.36,-194.6,0.0,0.0,0,79,0.00,0.00,-44.10,0.000,2,0.000,0.000,674,2485,2555
$GC,83,-1.36,-194.6,3.0,-4.2,9,131,10.15,3.28,-30.65,0.000,4,0.232,0.074,1933,893,3592
$GC,166,-1.36,-194.6,14.0,-19.9,24,171,0.00,2.75,0.00,0.000,6,0.000,0.041,1933,2308,3642
$GC,509,-1.36,-194.6,79.6,-19.1,85,513,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2308,3644
$GC,851,-1.36,-194.6,143.6,-18.7,146,856,0.00,2.85,0.00,0.000,4,0.000,0.061,1933,890,3637
$GC,891,-1.36,-194.6,151.0,-18.3,153,896,0.00,2.78,0.00,0.000,6,0.000,0.046,1934,2306,3644
$GC,1235,-1.36,-194.6,211.4,-16.3,209,1240,0.00,3.28,0.00,0.000,4,0.000,0.124,1933,3713,3644
$GC,1257,-1.36,-194.6,215.2,-17.2,210,1262,0.00,2.75,0.00,0.000,6,0.000,0.043,1933,2300,3644
$GC,1585,-1.36,-194.6,272.3,-16.7,241,1590,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2300,3644
$GC,1912,-1.36,-194.6,327.4,-17.0,272,1917,0.00,3.10,0.00,0.000,4,0.000,0.107,1933,895,3644
$GC,1945,-1.36,-194.6,333.3,-16.4,274,1951,0.00,2.88,0.00,0.000,6,0.000,0.069,1933,2297,3643
$GC,2270,-1.36,-194.6,384.2,-14.1,305,2271,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2298,3643
$GC,2592,-1.36,-194.6,433.6,-17.0,335,2597,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2298,3642
$GC,2919,-1.36,-194.6,491.2,-17.6,366,2920,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2297,3641
$STATE,2967,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2967,begin apogee
$GC,2976,-0.21,0.0,500.4,17.5,371,3164,1.50,0.00,184.35,1.013,6,0.130,0.000,2183,2724,2800
$STATE,3165,end apogee,CONTROL_FINISHED_OK
$STATE,3165,begin climb
$GC,3168,1.36,194.6,510.8,0.0,380,3354,1.85,3.00,173.62,0.979,4,0.067,0.160,2532,3786,2006
$GC,3564,1.36,194.6,471.6,15.0,405,3569,0.00,2.17,0.00,0.000,6,0.000,0.049,2532,2719,2005
$GC,3891,1.39,216.7,425.8,13.4,436,3915,0.00,2.50,18.75,0.987,4,0.000,0.109,2533,3787,1916
$GC,3945,1.39,216.7,417.7,14.8,441,3949,0.00,2.17,0.00,0.000,6,0.000,0.049,2532,2716,1916
$GC,4272,1.39,216.7,369.9,14.7,471,4276,0.00,2.47,0.00,0.000,4,0.000,0.110,2532,3791,1915
$GC,4327,1.39,216.7,361.0,16.0,475,4333,0.00,2.17,0.00,0.000,6,0.000,0.048,2532,2712,1915
$GC,4655,1.41,224.4,315.1,14.1,506,4663,0.00,0.00,6.35,0.990,6,0.000,0.000,2532,2712,1885
$GC,4983,1.43,235.7,267.9,13.9,537,4997,0.00,2.40,9.38,0.951,4,0.000,0.092,2532,3793,1839
$GC,5099,1.43,235.7,249.5,15.0,547,5104,0.00,2.10,0.00,0.000,6,0.000,0.039,2532,2709,1838
$GC,5427,1.45,250.8,204.8,13.7,577,5447,0.00,2.45,12.50,0.901,4,0.000,0.091,2532,3791,1777
$GC,5504,1.45,250.8,193.0,14.9,588,5510,0.00,2.12,0.00,0.000,6,0.000,0.038,2532,2711,1776
$GC,5847,1.47,259.2,145.7,14.1,649,5859,0.10,2.45,6.82,0.880,4,0.072,0.092,2552,3790,1742
$GC,5922,1.47,259.2,133.8,17.2,662,5927,0.00,2.08,0.00,0.000,6,0.000,0.038,2552,2715,1742
$GC,6265,1.47,259.2,78.3,16.5,723,6269,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2715,1742
$GC,6607,1.47,259.2,28.5,16.1,784,6612,0.00,2.92,0.00,0.000,4,0.000,0.081,2552,1318,1742
$GC,6692,1.47,259.2,15.7,15.1,799,6698,0.00,2.80,0.00,0.000,6,0.000,0.054,2552,2724,1741
$STATE,6785,end climb,SURFACE_DEPTH_REACHED
$STATE,6785,begin surface coast
$FINISH,1.4,1.011746
$STATE,6798,end surface coast,CONTROL_FINISHED_OK
$STATE,6798,begin surface
$SM_CCo,6820,52.75,0.700,0,0,1372,350.04
$SM_GC,2.11,0.00,0.00,52.75,0.000,0.000,0.700,676,2276,1372,-7.17,-0.71,350.04
$RAFOS_CLK,389
$RAFOS,5,1185094442,8.916667,8.900556,40,39,38,0,0,0,1014,817,739,0,0,0
$RAFOS,4,1185093849,8.750000,8.735833,41,41,40,0,0,0,63,212,1072,0,0,0
$RAFOS,3,1185093242,8.583333,8.567223,43,40,39,0,0,0,269,821,73,0,0,0
$RAFOS,2,1185092644,8.416667,8.401111,48,38,38,0,0,0,63,311,872,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,3618.89,-12206.29,220707,121238
$TT8_MAMPS,0.024544
$HUMID,2274
$INTERNAL_PRESSURE,10.7719
$TCM_TEMP,10.00
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,17.9
$24V_AH,20.4,22.365
$10V_AH,9.9,8.132
$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,22.575,59.375,411.775,52.750,0.000,0.000,0.000,0.000,1.250,12.269,1318.922,4095.889,578.793,801.985,193.064,0.000,1221.553,0.000,771.418,1440.000,8.662
$DEVICE_MAMPS,232.401,159.536,1013.207,700.271,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,20.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,564.995,648.893,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28403,818
$CFSIZE,260165632,254935040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1486.2
$GPS,220707,101852,3630.405,-12208.068,37,2.1,56,14.7