version: 66.01
glider: 112
mission: 1
dive: 38
start: 7 12 107 4 34 27
data:
$ID,112
$MISSION,1
$DIVE,38
$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,-18692.447
$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,0.02
$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,11
$R_STBD_OVSHOOT,31
$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
$GPS1,042737,4805.274,-12221.241,28,1.0,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-50.3
$GPS2,043327,4805.250,-12221.234,11,1.0,11,18.3
$SPEED_LIMITS,0.173,0.206
$TGT_NAME,SIX_nb
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.119,0.168
$KALMAN_X,934.1,-22.7,83.0,680.2,61.3
$KALMAN_Y,-640.2,353.1,-50.5,-2332.7,-76.0
$MHEAD_RNG_PITCHd_Wd,313.5,1680,-22.4,-10.000
$D_GRID,110
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.15,-132.0,0.0,0.0,0,90,0.00,0.00,-62.62,0.000,2,0.000,0.000,675,2087,3043
$GC,94,-1.15,-132.0,3.0,-3.6,10,139,12.80,2.88,-25.23,0.000,4,0.275,0.067,2008,3453,3875
$GC,263,-1.15,-132.0,20.2,-12.2,39,270,0.00,2.75,0.00,0.000,6,0.000,0.038,2008,2044,3877
$GC,334,-1.06,-132.0,29.3,-12.9,46,336,0.17,0.00,0.00,0.000,6,0.148,0.000,2033,2044,3877
$GC,399,-0.97,-132.0,37.0,-12.0,52,404,0.15,2.92,0.00,0.000,4,0.160,0.064,2052,3452,3878
$GC,455,-0.94,-132.0,43.8,-11.7,56,462,0.00,2.72,0.00,0.000,6,0.000,0.039,2052,2053,3878
$GC,589,-0.97,-132.0,58.2,-10.4,69,594,0.00,2.92,0.00,0.000,4,0.000,0.068,2052,3456,3878
$GC,633,-0.99,-132.0,63.0,-10.7,72,640,0.00,2.72,0.00,0.000,6,0.000,0.040,2052,2056,3877
$GC,767,-1.02,-132.0,76.7,-10.2,85,772,0.00,2.95,0.00,0.000,4,0.000,0.073,2052,3458,3878
$GC,841,-1.06,-132.0,84.3,-10.2,91,846,0.00,2.72,0.00,0.000,6,0.000,0.041,2052,2060,3878
$GC,976,-1.10,-132.0,98.1,-10.0,103,981,0.12,2.95,0.00,0.000,4,0.060,0.075,2026,3459,3878
$GC,1049,-1.15,-132.0,106.8,-12.2,109,1054,0.00,2.72,0.00,0.000,6,0.000,0.041,2026,2057,3878
$STATE,1074,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1074,begin apogee
$GC,1081,-0.21,0.0,110.1,11.9,111,1198,1.15,0.00,112.65,0.687,6,0.145,0.000,2217,1865,3334
$STATE,1199,end apogee,CONTROL_FINISHED_OK
$STATE,1199,begin climb
$GC,1202,1.15,132.0,114.0,0.0,123,1325,1.60,3.25,112.18,0.667,4,0.079,0.102,2519,469,2796
$GC,1382,1.15,132.0,98.8,14.1,139,1387,0.00,2.83,0.00,0.000,6,0.000,0.048,2519,1856,2795
$GC,1517,0.96,132.0,80.7,13.3,151,1522,0.22,3.17,0.00,0.000,4,0.138,0.091,2484,3282,2795
$GC,1607,0.80,132.0,69.9,11.2,158,1614,0.25,2.85,0.00,0.000,6,0.143,0.051,2447,1882,2794
$GC,1741,0.69,151.8,57.4,9.0,171,1765,0.17,2.97,15.75,0.678,4,0.151,0.067,2421,3287,2715
$GC,1882,0.70,180.7,45.8,8.5,183,1916,0.00,2.88,24.08,0.663,6,0.000,0.047,2421,1869,2596
$GC,2044,0.79,214.9,32.5,8.2,198,2078,0.00,3.08,27.90,0.655,4,0.000,0.066,2421,3281,2458
$GC,2209,0.91,230.8,17.5,9.2,214,2229,0.25,2.85,12.82,0.665,6,0.048,0.048,2474,1870,2394
$GC,2298,1.02,230.8,7.7,11.4,229,2304,0.00,2.97,0.00,0.000,4,0.000,0.065,2474,3284,2393
$STATE,2353,end climb,SURFACE_DEPTH_REACHED
$STATE,2353,begin surface coast
$FINISH,1.0,1.010540
$STATE,2376,end surface coast,CONTROL_FINISHED_OK
$STATE,2376,begin surface
$SM_CCo,2400,150.90,0.594,0,0,1296,500.17
$SM_GC,1.87,0.00,0.00,150.90,0.000,0.000,0.594,671,2044,1296,-7.35,-0.45,500.17
$RAFOS_CLK,113
$RAFOS,5,1184216042,4.916667,4.900556,60,59,57,55,51,50,190,206,120,133,224,164
$RAFOS,4,1184215441,4.750000,4.733611,72,61,54,51,48,48,212,152,175,132,113,222
$RAFOS,3,1184214895,4.583333,4.581944,62,61,60,60,56,54,176,165,208,218,189,116
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12220.12,120707,070754
$TT8_MAMPS,0.024544
$HUMID,1964
$INTERNAL_PRESSURE,10.3715
$TCM_TEMP,9.70
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,18.9
$24V_AH,20.8,17.409
$10V_AH,9.9,6.626
$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,26.100,58.025,305.375,150.900,0.000,37.865,29.925,152.947,0.500,13.363,553.763,1101.680,584.635,301.420,379.183,33.345,863.605,0.000,291.181,1080.000,2.560
$DEVICE_MAMPS,275.353,102.011,687.232,593.658,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,20.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,171.683,169.703,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9612,243
$CFSIZE,260165632,255791104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,5,0,0,0
$SOUNDSPEED,1484.0
$CURRENT,0.016,250.5,1
$GPS,120707,051811,4805.472,-12221.447,8,2.2,27,18.3