version: 66.01
glider: 112
mission: 1
dive: 28
start: 7 22 107 12 27 24
data:
$ID,112
$MISSION,1
$DIVE,28
$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,-21745.283
$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,27
$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,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
$GPS1,122123,3630.681,-12209.346,9,3.1,28,14.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-48.9
$GPS2,122653,3630.584,-12209.349,11,3.1,30,14.7
$SPEED_LIMITS,0.251,0.278
$TGT_NAME,HEADING
$TGT_LATLONG,3641.015,-12211.590
$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,1259
$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,31,-1.36,-194.6,0.0,0.0,0,78,0.00,0.00,-44.20,0.000,2,0.000,0.000,666,2282,2504
$GC,81,-1.36,-194.6,3.3,-5.3,9,129,10.48,2.90,-30.48,0.000,4,0.238,0.067,1930,896,3611
$GC,180,-1.36,-194.6,18.9,-22.6,27,186,0.00,2.78,0.00,0.000,6,0.000,0.041,1930,2316,3630
$GC,523,-1.36,-194.6,96.7,-23.3,88,528,0.00,2.85,0.00,0.000,4,0.000,0.056,1930,900,3637
$GC,608,-1.36,-194.6,115.6,-22.2,103,613,0.00,2.72,0.00,0.000,6,0.000,0.042,1930,2302,3635
$GC,951,-1.36,-194.6,188.0,-19.7,164,956,0.00,2.83,0.00,0.000,4,0.000,0.060,1930,899,3613
$GC,1046,-1.36,-194.6,206.4,-18.7,178,1052,0.00,2.80,0.00,0.000,6,0.000,0.051,1930,2306,3639
$GC,1374,-1.36,-194.6,258.1,-14.3,209,1378,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,2306,3639
$GC,1699,-1.36,-194.6,306.0,-14.7,240,1700,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,2306,3639
$GC,2017,-1.36,-194.6,358.9,-17.6,270,2018,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,2306,3639
$GC,2339,-1.36,-194.6,415.8,-17.7,300,2344,0.00,3.08,0.00,0.000,4,0.000,0.099,1930,900,3624
$GC,2379,-1.36,-194.6,423.2,-17.6,303,2383,0.00,2.95,0.00,0.000,6,0.000,0.081,1930,2301,3639
$GC,2703,-1.36,-194.6,478.8,-18.1,333,2708,0.00,3.00,0.00,0.000,4,0.000,0.091,1930,906,3638
$GC,2747,-1.36,-194.6,486.9,-18.8,336,2752,0.00,2.92,0.00,0.000,6,0.000,0.078,1930,2304,3639
$STATE,2825,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2825,begin apogee
$GC,2834,-0.21,0.0,500.5,16.9,344,3023,1.52,0.00,184.48,1.009,6,0.132,0.000,2182,2719,2799
$STATE,3023,end apogee,CONTROL_FINISHED_OK
$STATE,3023,begin climb
$GC,3027,1.36,194.6,508.6,0.0,353,3215,1.85,3.03,174.35,0.972,4,0.069,0.160,2530,3786,2006
$GC,3450,1.36,194.6,464.0,14.7,383,3455,0.00,2.15,0.00,0.000,6,0.000,0.048,2530,2724,2005
$GC,3777,1.41,225.1,420.3,12.9,414,3811,0.00,3.25,26.33,0.979,4,0.000,0.097,2530,1306,1882
$GC,3852,1.41,225.1,408.8,15.3,421,3857,0.00,3.08,0.00,0.000,6,0.000,0.077,2529,2728,1881
$GC,4181,1.41,225.1,355.5,16.9,451,4185,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2729,1881
$GC,4505,1.41,225.1,299.1,16.9,482,4510,0.00,2.55,0.00,0.000,4,0.000,0.135,2530,3789,1880
$GC,4590,1.41,225.1,284.0,18.0,489,4594,0.00,2.10,0.00,0.000,6,0.000,0.041,2530,2711,1880
$GC,4917,1.41,225.1,231.6,15.0,519,4921,0.00,2.33,0.00,0.000,4,0.000,0.087,2530,3788,1880
$GC,5012,1.41,225.1,216.0,15.9,527,5016,0.00,2.08,0.00,0.000,6,0.000,0.040,2530,2710,1880
$GC,5348,1.41,225.1,166.2,14.9,577,5353,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2710,1879
$GC,5691,1.42,233.5,115.7,14.1,638,5702,0.00,3.00,6.28,0.870,4,0.000,0.081,2530,1315,1847
$GC,5759,1.42,233.5,105.7,15.0,650,5765,0.00,2.85,0.00,0.000,6,0.000,0.060,2530,2721,1848
$GC,6102,1.49,274.4,55.4,12.4,711,6143,0.15,2.92,33.38,0.772,4,0.064,0.064,2561,1314,1680
$GC,6295,1.51,284.9,26.7,14.0,746,6311,0.00,2.88,8.23,0.772,6,0.000,0.057,2561,2728,1638
$STATE,6443,end climb,SURFACE_DEPTH_REACHED
$STATE,6443,begin surface coast
$FINISH,1.5,1.024862
$STATE,6456,end surface coast,CONTROL_FINISHED_OK
$STATE,6456,begin surface
$SM_CCo,6537,0.00,0.000,0,0,1633,470.73
$SM_GC,2.38,8.30,0.00,0.00,0.051,0.000,0.000,901,2276,1633,-6.06,0.48,470.73
$RAFOS_CLK,308
$RAFOS,5,1185108844,12.916667,12.901111,47,40,38,0,0,0,101,658,800,0,0,0
$RAFOS,4,1185108243,12.750000,12.734167,48,46,41,0,0,0,64,638,1063,0,0,0
$RAFOS,3,1185107646,12.583333,12.568334,44,42,40,0,0,0,680,83,712,0,0,0
$RAFOS,1,1185106443,12.250000,12.234167,47,42,42,0,0,0,424,1060,1104,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,3618.89,-12209.98,220707,141431
$TT8_MAMPS,0.025311
$HUMID,2294
$INTERNAL_PRESSURE,10.811
$TCM_TEMP,10.70
$XPDR_PINGS,1
$ALTIM_TOP_PING,20.0,18.9
$24V_AH,20.4,22.640
$10V_AH,9.9,8.223
$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,22.300,62.900,433.025,0.000,0.000,35.305,38.904,118.060,1.250,33.202,1238.186,3922.118,542.205,790.288,389.306,0.000,1163.814,0.000,741.311,1080.000,8.662
$DEVICE_MAMPS,237.770,160.303,1009.372,0.000,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,20.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,535.773,612.228,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28433,775
$CFSIZE,260165632,254881792
$ERRORS,0,0,0,0,0,0,0,0,1,0,1,0,0,0,0
$SOUNDSPEED,1487.4
$GPS,220707,141738,3631.067,-12210.602,35,1.1,36,14.7