version: 66.01
glider: 112
mission: 1
dive: 24
start: 7 11 107 17 16 39
data:
$ID,112
$MISSION,1
$DIVE,24
$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,-18414.465
$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,9
$R_STBD_OVSHOOT,30
$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
$GPS1,170951,4806.526,-12222.391,11,1.9,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-50.3
$GPS2,171539,4806.453,-12222.358,12,1.8,12,18.3
$SPEED_LIMITS,0.173,0.206
$TGT_NAME,SIX_sb
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.029,-0.204
$KALMAN_X,1185.4,134.1,23.3,-1061.7,222.5
$KALMAN_Y,-2480.6,-136.3,-40.3,2215.6,-99.4
$MHEAD_RNG_PITCHd_Wd,131.1,948,-22.4,-10.000
$D_GRID,108
$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,-132.0,0.0,0.0,0,78,0.00,0.00,-50.55,0.000,2,0.000,0.000,675,2094,2743
$GC,82,-1.15,-132.0,3.0,-4.3,8,135,12.43,3.08,-33.58,0.000,4,0.267,0.071,2010,638,3875
$GC,387,-1.15,-132.0,40.6,-13.7,47,394,0.00,2.75,0.00,0.000,6,0.000,0.038,2010,2055,3877
$GC,458,-1.15,-132.0,50.1,-14.0,54,462,0.00,2.85,0.00,0.000,4,0.000,0.058,2010,643,3877
$GC,508,-1.15,-132.0,57.5,-15.0,58,513,0.00,2.75,0.00,0.000,6,0.000,0.040,2010,2064,3877
$GC,643,-1.15,-132.0,70.7,-8.9,70,647,0.00,3.00,0.00,0.000,4,0.000,0.085,2010,3468,3877
$GC,899,-1.15,-132.0,103.7,-12.6,92,906,0.00,2.75,0.00,0.000,6,0.000,0.040,2010,2045,3878
$STATE,935,end dive,TARGET_DEPTH_EXCEEDED
$STATE,935,begin apogee
$GC,943,-0.21,0.0,108.2,12.4,96,1060,1.25,0.00,112.75,0.676,6,0.150,0.000,2215,1864,3335
$STATE,1061,end apogee,CONTROL_FINISHED_OK
$STATE,1061,begin climb
$GC,1064,1.15,132.0,112.2,0.0,108,1186,1.60,3.25,112.12,0.656,4,0.077,0.102,2516,467,2796
$GC,1221,1.15,132.0,99.7,14.7,122,1225,0.00,2.88,0.00,0.000,6,0.000,0.048,2516,1870,2796
$GC,1354,1.15,132.0,81.6,13.4,134,1359,0.00,3.15,0.00,0.000,4,0.000,0.094,2516,3282,2796
$GC,1454,1.15,132.0,68.1,13.6,142,1461,0.00,2.85,0.00,0.000,6,0.000,0.049,2516,1879,2795
$GC,1588,1.15,132.0,51.5,11.8,155,1593,0.00,2.95,0.00,0.000,4,0.000,0.067,2516,3286,2794
$GC,1655,1.15,132.0,43.6,11.4,160,1661,0.00,2.85,0.00,0.000,6,0.000,0.048,2516,1870,2795
$GC,1788,1.15,132.0,28.9,11.0,173,1793,0.00,2.92,0.00,0.000,4,0.000,0.065,2516,3282,2794
$GC,1832,1.15,132.0,23.5,12.1,176,1839,0.00,2.83,0.00,0.000,6,0.000,0.048,2516,1873,2794
$GC,1904,1.15,139.1,16.0,9.6,186,1911,0.00,0.00,5.28,0.703,6,0.000,0.000,2516,1873,2767
$GC,1980,1.16,146.4,8.3,9.6,199,1993,0.00,2.92,5.93,0.693,4,0.000,0.062,2516,3286,2737
$GC,2023,1.18,312.8,6.8,1.3,206,2167,0.00,2.83,137.18,0.618,6,0.000,0.044,2516,1866,2059
$STATE,2204,end climb,SURFACE_DEPTH_REACHED
$STATE,2204,begin surface coast
$FINISH,1.0,1.007888
$STATE,2256,end surface coast,CONTROL_FINISHED_OK
$STATE,2256,begin surface
$SM_CCo,2278,116.35,0.583,0,0,1296,500.17
$SM_GC,1.84,0.00,0.00,116.35,0.000,0.000,0.583,676,2095,1296,-7.33,0.99,500.17
$RAFOS_CLK,100
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4751.72,-12223.57,110707,202013
$TT8_MAMPS,0.024544
$HUMID,1963
$INTERNAL_PRESSURE,10.4106
$TCM_TEMP,10.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.3,18.5
$24V_AH,20.8,15.975
$10V_AH,10.0,6.293
$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,24.775,47.400,373.250,116.350,0.000,39.847,28.462,149.008,0.500,14.155,504.456,993.252,593.216,301.833,367.192,33.324,869.048,0.000,293.874,0.000,2.558
$DEVICE_MAMPS,266.916,102.011,703.339,582.920,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,20.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,173.515,169.214,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9586,246
$CFSIZE,260165632,256151552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$SOUNDSPEED,1486.7
$CURRENT,0.034,167.4,1
$GPS,110707,175727,4806.282,-12222.254,10,2.0,10,18.3