version: 66.01
glider: 112
mission: 2
dive: 22
start: 8 16 107 16 43 0
data:
$ID,112
$MISSION,2
$DIVE,22
$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,350
$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,-23633.209
$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,0.5
$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,15
$R_STBD_OVSHOOT,16
$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
$GPS1,163644,4806.591,-12222.283,11,1.4,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-50.3
$GPS2,164205,4806.632,-12222.283,10,4.1,29,18.3
$SPEED_LIMITS,0.173,0.206
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.158,0.133
$KALMAN_X,1678.5,66.6,80.2,94.2,87.2
$KALMAN_Y,-99.0,43.7,-23.3,-3000.8,17.1
$MHEAD_RNG_PITCHd_Wd,291.8,3305,-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,21,begin dive
$GC,27,-1.23,-132.0,0.0,0.0,0,94,0.00,0.00,-64.55,0.000,2,0.000,0.000,678,2151,2208
$GC,98,-1.23,-132.0,3.3,-3.8,13,155,12.77,2.90,-34.03,0.000,4,0.265,0.061,2058,744,3203
$GC,408,-1.10,-132.0,33.5,-11.4,58,413,0.22,2.70,0.00,0.000,6,0.163,0.032,2088,2164,3206
$GC,605,-1.04,-132.0,53.5,-10.4,76,610,0.00,2.88,0.00,0.000,4,0.000,0.061,2088,747,3206
$GC,750,-0.99,-132.0,69.2,-10.7,88,756,0.17,2.67,0.00,0.000,6,0.156,0.034,2112,2156,3207
$GC,1075,-0.99,-132.0,97.4,-8.1,119,1080,0.00,3.03,0.00,0.000,4,0.000,0.093,2113,3557,3207
$GC,1137,-0.99,-132.0,102.7,-8.7,124,1142,0.00,2.67,0.00,0.000,6,0.000,0.033,2112,2154,3207
$STATE,1204,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1204,begin apogee
$GC,1211,-0.22,0.0,108.5,8.2,130,1328,1.00,0.00,110.68,0.706,6,0.128,0.000,2280,2430,2663
$STATE,1328,end apogee,CONTROL_FINISHED_OK
$STATE,1328,begin climb
$GC,1332,1.23,132.0,110.6,0.0,142,1451,1.70,3.22,110.45,0.689,4,0.081,0.081,2598,1016,2126
$GC,1484,1.11,132.0,93.5,15.9,157,1490,0.15,2.88,0.00,0.000,6,0.131,0.050,2577,2408,2125
$GC,1809,1.04,132.0,47.7,13.1,187,1814,0.00,3.20,0.00,0.000,4,0.000,0.106,2577,3817,2124
$GC,1871,0.94,132.0,39.0,14.4,192,1876,0.25,2.72,0.00,0.000,6,0.127,0.037,2540,2422,2124
$GC,2071,0.94,132.6,17.6,10.0,212,2077,0.00,3.03,0.00,0.000,4,0.000,0.082,2540,3826,2124
$GC,2117,0.93,132.6,12.7,10.6,220,2123,0.00,2.72,0.00,0.000,6,0.000,0.035,2539,2426,2123
$GC,2192,1.07,199.0,6.4,6.6,233,2254,0.15,3.10,51.90,0.671,4,0.055,0.078,2575,3823,1851
$GC,2272,1.22,258.3,2.4,7.0,248,2279,0.12,2.75,1.50,0.757,2,0.060,0.034,2601,2421,1838
$STATE,2280,end climb,SURFACE_DEPTH_REACHED
$STATE,2280,begin surface coast
$FINISH,1.6,1.009140
$STATE,2307,end surface coast,CONTROL_FINISHED_OK
$STATE,2307,begin surface
$SM_CCo,2328,78.57,0.623,0,0,1237,350.04
$SM_GC,2.65,0.00,0.00,78.57,0.000,0.000,0.623,682,2144,1237,-7.59,-0.37,350.04
$RAFOS_CLK,102
$RAFOS,5,1187283244,16.916666,16.901112,43,41,40,0,0,0,1052,360,32,0,0,0
$RAFOS,4,1187282646,16.750000,16.735001,49,42,41,0,0,0,1052,223,716,0,0,0
$RAFOS,2,1187281451,16.416666,16.403055,42,41,40,0,0,0,174,32,209,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12221.84,160807,191911
$TT8_MAMPS,0.025311
$HUMID,2056
$INTERNAL_PRESSURE,11.3383
$TCM_TEMP,11.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.3
$24V_AH,20.9,26.990
$10V_AH,10.0,9.450
$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,26.300,41.600,274.525,78.575,0.000,32.787,65.640,98.717,0.250,31.891,431.150,1226.746,471.767,298.012,317.981,33.332,729.698,0.000,275.681,720.000,2.558
$DEVICE_MAMPS,265.382,105.846,757.029,622.804,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,20.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,178.100,178.065,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9610,254
$CFSIZE,260165632,254910464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$SOUNDSPEED,1488.2
$GPS,160807,172420,4806.722,-12222.556,10,1.7,27,18.3