version: 66.01
glider: 112
mission: 1
dive: 33
start: 7 12 107 0 22 48
data:
$ID,112
$MISSION,1
$DIVE,33
$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,-18606.553
$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,0.059999999
$PITCH_ADJ_DBAND,0.5
$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,15
$R_STBD_OVSHOOT,28
$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
$GPS1,001453,4805.999,-12221.641,12,3.8,31,18.3
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-50.3
$GPS2,002147,4806.008,-12221.653,13,3.6,32,18.3
$SPEED_LIMITS,0.173,0.206
$TGT_NAME,FIVE_sb
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.053,-0.199
$KALMAN_X,684.6,7.1,-141.1,605.6,20.1
$KALMAN_Y,-834.9,280.1,262.0,-972.8,114.3
$MHEAD_RNG_PITCHd_Wd,132.7,2034,-22.4,-10.000
$D_GRID,107
$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,-1.15,-132.0,0.0,0.0,0,84,0.00,0.00,-55.97,0.000,2,0.000,0.000,676,2083,2965
$GC,87,-1.15,-132.0,3.2,-1.7,9,133,12.77,2.95,-25.35,0.000,4,0.274,0.073,2011,652,3874
$GC,387,-1.15,-132.0,36.4,-12.7,50,392,0.00,2.70,0.00,0.000,6,0.000,0.038,2011,2055,3877
$GC,458,-0.89,-132.0,45.5,-12.8,56,460,0.40,0.00,0.00,0.000,6,0.152,0.000,2070,2055,3877
$GC,585,-0.68,-132.0,57.6,-9.4,68,591,0.25,3.03,0.00,0.000,4,0.136,0.086,2112,3463,3878
$GC,671,-0.86,-132.0,64.3,-7.4,75,676,0.10,2.72,0.00,0.000,6,0.040,0.039,2071,2052,3877
$GC,811,-1.31,-132.0,76.7,-9.2,88,817,0.40,2.95,0.00,0.000,4,0.039,0.071,1978,3466,3878
$GC,879,-1.53,-132.0,86.2,-15.1,93,886,0.22,2.72,0.00,0.000,6,0.056,0.039,1931,2056,3877
$STATE,999,end dive,TARGET_DEPTH_EXCEEDED
$STATE,999,begin apogee
$GC,1007,-0.21,0.0,107.2,17.6,105,1124,1.83,0.00,112.50,0.669,6,0.166,0.000,2217,1859,3335
$STATE,1125,end apogee,CONTROL_FINISHED_OK
$STATE,1125,begin climb
$GC,1128,1.15,132.0,111.9,0.0,117,1251,1.60,3.22,111.95,0.653,4,0.078,0.100,2517,469,2796
$GC,1280,1.15,132.0,99.9,14.1,130,1287,0.00,2.88,0.00,0.000,6,0.000,0.049,2517,1872,2795
$GC,1415,0.60,132.0,81.7,13.7,143,1425,0.73,3.15,0.00,0.000,4,0.148,0.093,2404,3281,2794
$GC,1483,0.14,170.1,75.6,8.0,149,1526,0.62,2.85,31.33,0.650,6,0.115,0.048,2301,1879,2641
$GC,1656,0.37,255.8,67.3,5.5,165,1734,0.22,3.00,70.88,0.639,4,0.051,0.061,2347,3283,2291
$GC,1741,1.64,320.0,61.8,6.6,172,1804,1.42,2.90,53.30,0.634,6,0.044,0.044,2629,1867,2030
$GC,1932,2.69,320.0,14.6,27.8,191,1939,1.08,3.22,0.00,0.000,4,0.051,0.101,2855,463,2028
$STATE,1965,end climb,SURFACE_DEPTH_REACHED
$STATE,1965,begin surface coast
$FINISH,1.0,1.015779
$STATE,1972,end surface coast,CONTROL_FINISHED_OK
$STATE,1972,begin surface
$SM_CCo,1999,114.35,0.580,0,0,1296,500.17
$SM_GC,1.98,0.00,0.00,114.35,0.000,0.000,0.580,676,2073,1296,-7.33,0.37,500.17
$RAFOS_CLK,92
$RAFOS,4,1184201042,0.750000,0.733889,64,55,54,50,49,43,151,192,224,113,162,78
$RAFOS,3,1184200442,0.583333,0.567222,68,61,58,54,52,49,212,188,135,153,168,114
$RAFOS,2,1184199846,0.416667,0.401667,67,56,55,55,54,53,210,173,120,150,219,191
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12221.84,120707,030315
$TT8_MAMPS,0.026845
$HUMID,1947
$INTERNAL_PRESSURE,10.3715
$TCM_TEMP,9.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,17.8,16.9
$24V_AH,20.8,16.910
$10V_AH,10.0,6.503
$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,33.025,42.000,379.950,114.350,0.000,41.100,38.272,181.597,0.500,35.176,431.235,842.889,596.031,272.892,405.527,33.334,837.603,0.000,244.119,1440.000,5.023
$DEVICE_MAMPS,273.819,101.244,668.824,579.852,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,20.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,138.778,137.017,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6445,198
$CFSIZE,260165632,255938560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$SOUNDSPEED,1484.2
$CURRENT,0.032,232.7,1
$GPS,120707,005925,4805.896,-12221.587,23,1.0,40,18.3