version: 66.01
glider: 112
mission: 1
dive: 22
start: 7 11 107 15 37 8
data:
$ID,112
$MISSION,1
$DIVE,22
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$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,50
$T_MISSION,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,135
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51440
$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,500
$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,-18382.158
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,0.2
$RAFOS_CORR_THRESH,80
$RAFOS_HIT_WINDOW,5400
$PITCH_MIN,679
$PITCH_MAX,3252
$C_PITCH,2269
$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
$ROLL_MIN,166
$ROLL_MAX,3791
$C_ROLL_DIVE,2060
$C_ROLL_CLIMB,1870
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,11
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,486
$VBD_MAX,3897
$C_VBD,3335
$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,-3.7066903
$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,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043805656
$SEABIRD_T_H,0.00064742006
$SEABIRD_T_I,2.5554549e-05
$SEABIRD_T_J,2.6681391e-06
$SEABIRD_C_G,-10.331019
$SEABIRD_C_H,1.1763502
$SEABIRD_C_I,-0.0012340198
$SEABIRD_C_J,0.00017379176
$GPS1,152956,4807.164,-12223.026,13,1.7,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-50.3
$GPS2,153603,4807.108,-12222.996,9,2.0,9,18.3
$SPEED_LIMITS,0.173,0.206
$TGT_NAME,SEVEN_sb
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.041,-0.168
$KALMAN_X,577.1,78.6,-2.8,-1162.0,50.9
$KALMAN_Y,-2042.6,-148.3,-83.6,3047.7,11.6
$MHEAD_RNG_PITCHd_Wd,118.0,201,-26.9,-10.000
$D_GRID,105
$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,24,begin dive
$GC,28,-1.27,-91.9,0.0,0.0,0,81,0.00,0.00,-51.67,0.000,2,0.000,0.000,678,2096,2769
$GC,85,-1.27,-132.0,3.1,-4.6,8,138,12.05,2.95,-32.58,0.000,4,0.264,0.066,1987,643,3873
$GC,390,-1.34,-132.0,44.2,-15.3,46,397,0.00,2.70,0.00,0.000,6,0.000,0.037,1987,2045,3876
$GC,524,-1.34,-132.0,63.9,-14.8,59,528,0.00,2.83,0.00,0.000,4,0.000,0.058,1987,646,3877
$GC,567,-1.34,-132.0,70.8,-15.0,62,574,0.00,2.75,0.00,0.000,6,0.000,0.039,1987,2067,3877
$GC,701,-1.34,-132.0,90.2,-14.9,75,706,0.00,3.00,0.00,0.000,4,0.000,0.087,1987,3463,3877
$GC,752,-1.34,-132.0,97.6,-14.4,79,756,0.00,2.75,0.00,0.000,6,0.000,0.040,1987,2046,3877
$STATE,808,end dive,TARGET_DEPTH_EXCEEDED
$STATE,808,begin apogee
$GC,816,-0.21,0.0,106.3,14.6,84,933,1.42,0.00,112.88,0.677,6,0.153,0.000,2219,1864,3335
$STATE,934,end apogee,CONTROL_FINISHED_OK
$STATE,934,begin climb
$GC,937,1.34,132.0,110.7,0.0,96,1060,1.83,3.22,112.38,0.666,4,0.077,0.098,2561,465,2796
$GC,1065,1.34,132.0,101.4,13.0,107,1072,0.00,2.88,0.00,0.000,6,0.000,0.048,2561,1864,2795
$GC,1199,1.34,132.0,80.9,15.9,120,1204,0.00,3.20,0.00,0.000,4,0.000,0.094,2561,3286,2795
$GC,1250,1.34,132.0,72.8,16.0,124,1255,0.00,2.88,0.00,0.000,6,0.000,0.049,2561,1878,2795
$GC,1384,1.34,132.0,52.3,14.8,136,1388,0.00,2.95,0.00,0.000,4,0.000,0.066,2561,3282,2794
$GC,1495,1.34,132.0,36.0,14.4,145,1502,0.00,2.88,0.00,0.000,6,0.000,0.048,2561,1864,2794
$GC,1565,1.34,132.0,26.9,13.3,152,1570,0.00,2.95,0.00,0.000,4,0.000,0.064,2561,3282,2794
$GC,1597,1.34,132.0,22.5,12.5,154,1604,0.00,2.85,0.00,0.000,6,0.000,0.048,2561,1865,2794
$GC,1672,1.34,132.0,13.3,12.8,165,1678,0.00,2.95,0.00,0.000,4,0.000,0.064,2561,3289,2794
$GC,1685,1.34,132.0,11.8,11.9,167,1692,0.00,2.85,0.00,0.000,6,0.000,0.048,2561,1867,2794
$GC,1760,1.34,185.3,5.5,6.0,180,1813,0.00,3.05,43.15,0.648,4,0.000,0.061,2560,3298,2578
$STATE,1968,end climb,NO_VERTICAL_VELOCITY
$STATE,1968,begin surface
$SM_CCo,1972,303.30,0.591,0,0,485,698.86
$SM_GC,1.74,9.60,0.00,0.00,0.041,0.000,0.000,675,2055,479,-7.28,-0.14,700.33
$RAFOS_CLK,111
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12224.57,110707,181834
$TT8_MAMPS,0.026078
$HUMID,1975
$INTERNAL_PRESSURE,10.3715
$TCM_TEMP,10.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.1,18.1
$24V_AH,20.8,15.768
$10V_AH,10.0,6.244
$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,24.900,52.575,268.400,303.300,0.000,38.019,48.279,149.872,0.500,10.973,471.858,962.764,702.917,253.396,387.394,33.331,941.338,0.000,247.846,360.000,2.557
$DEVICE_MAMPS,263.848,98.176,677.261,591.357,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,20.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,153.577,148.704,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6446,217
$CFSIZE,260165632,256204800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$SOUNDSPEED,1486.3
$CURRENT,0.122,159.7,1
$GPS,110707,161808,4806.879,-12222.697,29,1.7,29,18.3