version: 66.01
glider: 112
mission: 2
dive: 21
start: 8 16 107 15 52 32
data:
$ID,112
$MISSION,2
$DIVE,21
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,250
$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,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,51558
$NAV_MODE,1
$FERRY_MAX,30
$KALMAN_USE,1
$HD_A,0.0049999999
$HD_B,0.015
$HD_C,5.5e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,425
$N_FILEKB,4
$FILEMGR,0
$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,-23600.689
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,0.2
$RAFOS_CORR_THRESH,80
$RAFOS_HIT_WINDOW,5400
$PITCH_MIN,679
$PITCH_MAX,3252
$C_PITCH,2334
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22.9
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,85
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,168
$ROLL_MAX,3823
$C_ROLL_DIVE,2156
$C_ROLL_CLIMB,2417
$HEAD_ERRBAND,3
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,12
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,486
$VBD_MAX,3897
$C_VBD,2664
$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,-2.7642801
$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,0
$ALTIM_PING_DELTA,0
$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
$GPS1,154233,4806.363,-12222.304,7,1.9,7,18.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-50.3
$GPS2,155135,4806.426,-12222.293,11,2.3,30,18.3
$SPEED_LIMITS,0.173,0.206
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.139,0.153
$KALMAN_X,1435.6,47.5,63.2,365.7,67.2
$KALMAN_Y,-155.2,39.9,-8.3,-3337.7,-7.7
$MHEAD_RNG_PITCHd_Wd,299.4,3598,-23.1,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.23,-132.0,0.0,0.0,0,71,0.00,0.00,-44.12,0.000,2,0.000,0.000,683,2172,2119
$GC,75,-1.23,-132.0,3.1,-2.8,9,132,12.88,2.90,-36.40,0.000,4,0.268,0.065,2059,745,3203
$GC,385,-1.09,-132.0,34.4,-11.3,54,391,0.22,2.70,0.00,0.000,6,0.156,0.033,2090,2163,3206
$GC,583,-1.04,-132.0,54.3,-10.3,72,588,0.00,2.88,0.00,0.000,4,0.000,0.063,2090,749,3207
$GC,672,-0.99,-132.0,63.9,-11.0,79,678,0.17,2.70,0.00,0.000,6,0.150,0.035,2115,2164,3207
$GC,997,-0.99,-132.0,92.4,-8.3,110,1002,0.00,3.08,0.00,0.000,4,0.000,0.099,2115,3565,3208
$GC,1036,-0.99,-132.0,95.9,-9.4,113,1041,0.00,2.67,0.00,0.000,6,0.000,0.032,2115,2160,3207
$STATE,1177,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1177,begin apogee
$GC,1185,-0.22,0.0,108.6,8.2,126,1302,0.98,0.00,111.05,0.709,6,0.123,0.000,2280,2424,2663
$STATE,1303,end apogee,CONTROL_FINISHED_OK
$STATE,1303,begin climb
$GC,1306,1.23,132.0,110.9,0.0,138,1428,1.70,3.25,109.95,0.695,4,0.079,0.097,2599,3804,2125
$GC,1684,1.09,132.0,56.3,16.1,172,1690,0.17,2.72,0.00,0.000,6,0.136,0.037,2574,2419,2124
$GC,2011,1.04,132.0,14.1,11.8,207,2017,0.00,3.03,0.00,0.000,4,0.000,0.086,2574,1005,2123
$STATE,2261,end climb,NO_VERTICAL_VELOCITY
$STATE,2261,begin surface
$SM_CCo,2265,202.62,0.616,0,0,486,534.26
$SM_GC,2.34,9.65,0.00,0.00,0.042,0.000,0.000,678,2151,478,-7.59,-0.14,536.23
$RAFOS_CLK,118
$RAFOS,1,1187280851,16.250000,16.236389,44,41,41,0,0,0,878,32,1153,0,0,0
$RAFOS,0,1187280248,16.083334,16.068890,45,44,44,0,0,0,896,32,266,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12224.57,160807,191925
$TT8_MAMPS,0.028379
$HUMID,2091
$INTERNAL_PRESSURE,11.309
$TCM_TEMP,11.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.4
$24V_AH,20.9,26.912
$10V_AH,10.0,9.428
$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,25.775,28.825,221.000,202.625,0.000,74.174,108.246,171.288,0.250,32.478,430.274,1409.118,518.175,307.778,473.890,33.334,767.641,0.000,280.073,1080.000,4.824
$DEVICE_MAMPS,267.683,98.943,708.708,615.901,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,20.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,174.401,179.518,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9648,252
$CFSIZE,260165632,254935040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1489.1
$GPS,160807,163644,4806.591,-12222.283,11,1.4,28,18.3