version: 66.01
glider: 112
mission: 2
dive: 30
start: 8 16 107 23 22 59
data:
$ID,112
$MISSION,2
$DIVE,30
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51558
$NAV_MODE,1
$FERRY_MAX,0
$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,-23815.15
$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,75
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,168
$ROLL_MAX,3823
$C_ROLL_DIVE,2156
$C_ROLL_CLIMB,2417
$HEAD_ERRBAND,6
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,13
$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
$GPS1,231708,4807.696,-12223.615,6,1.2,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-50.3
$GPS2,232203,4807.727,-12223.634,15,1.4,15,18.3
$SPEED_LIMITS,0.173,0.217
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.106,-0.190
$KALMAN_X,1491.5,-16.7,-90.1,-1130.2,-12.0
$KALMAN_Y,430.3,120.2,83.7,-1688.2,38.4
$MHEAD_RNG_PITCHd_Wd,132.6,1557,-21.9,-10.000
$D_GRID,105
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.20,-146.6,0.0,0.0,0,64,0.00,0.00,-34.05,0.000,2,0.000,0.000,681,2163,2151
$GC,67,-1.20,-146.6,3.3,-3.6,7,129,13.10,3.05,-38.50,0.000,4,0.270,0.084,2067,3570,3263
$GC,158,-0.87,-146.6,9.9,-15.9,24,164,0.52,2.75,0.00,0.000,6,0.176,0.031,2139,2137,3264
$GC,233,-0.92,-146.6,16.8,-7.4,37,238,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2137,3264
$GC,311,-0.96,-146.6,22.9,-8.0,48,316,0.00,3.05,0.00,0.000,4,0.000,0.076,2140,3568,3265
$GC,344,-0.96,-146.6,25.9,-8.8,50,349,0.00,2.62,0.00,0.000,6,0.000,0.031,2140,2190,3266
$GC,542,-1.03,-146.6,41.7,-8.0,69,544,0.17,0.00,0.00,0.000,6,0.048,0.000,2101,2190,3267
$GC,734,-0.96,-146.6,60.4,-9.9,87,739,0.15,2.90,0.00,0.000,4,0.138,0.074,2122,3564,3267
$GC,779,-0.96,-146.6,64.9,-9.2,90,784,0.00,2.60,0.00,0.000,6,0.000,0.032,2122,2196,3267
$GC,1106,-0.96,-146.6,93.9,-8.8,121,1110,0.00,2.88,0.00,0.000,4,0.000,0.074,2122,3564,3267
$GC,1179,-0.96,-146.6,100.7,-9.4,127,1183,0.00,2.58,0.00,0.000,6,0.000,0.033,2122,2212,3267
$STATE,1224,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1224,begin apogee
$GC,1232,-0.22,0.0,105.1,8.9,131,1360,0.95,0.00,123.45,0.704,6,0.131,0.000,2280,2428,2664
$STATE,1360,end apogee,CONTROL_FINISHED_OK
$STATE,1360,begin climb
$GC,1364,1.20,146.6,107.9,0.0,144,1496,1.70,3.15,122.38,0.686,4,0.084,0.093,2594,3803,2067
$GC,1572,0.92,146.6,81.8,16.7,163,1578,0.38,2.75,0.00,0.000,6,0.127,0.037,2538,2424,2066
$GC,1896,0.92,146.6,43.8,11.3,194,1901,0.00,3.00,0.00,0.000,4,0.000,0.081,2538,3811,2065
$GC,1917,0.92,146.6,41.1,12.2,195,1923,0.00,2.72,0.00,0.000,6,0.000,0.036,2538,2420,2065
$GC,2115,0.93,152.5,20.6,9.7,214,2126,0.00,0.00,4.47,0.725,6,0.000,0.000,2538,2419,2042
$GC,2329,1.33,295.0,5.3,3.5,251,2376,0.40,0.00,43.80,0.671,2,0.039,0.000,2628,2419,1741
$STATE,2377,end climb,SURFACE_DEPTH_REACHED
$STATE,2377,begin surface coast
$FINISH,1.6,1.003968
$STATE,2398,end surface coast,CONTROL_FINISHED_OK
$STATE,2398,begin surface
$SM_CCo,2420,65.12,0.626,0,0,1237,350.04
$SM_GC,2.36,0.00,0.00,65.12,0.000,0.000,0.626,678,2138,1237,-7.62,-0.51,350.04
$RAFOS_CLK,105
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12226.29,170807,020239
$TT8_MAMPS,0.024544
$HUMID,2095
$INTERNAL_PRESSURE,11.3383
$TCM_TEMP,11.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.1
$24V_AH,20.6,27.668
$10V_AH,10.0,9.631
$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,27.175,35.050,294.100,65.125,0.000,40.461,49.439,100.662,0.250,16.653,442.996,1305.641,449.159,285.328,314.480,33.343,707.321,0.000,273.463,0.000,2.567
$DEVICE_MAMPS,269.984,92.807,724.815,625.872,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,20.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,184.053,184.725,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9557,264
$CFSIZE,260165632,254717952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1488.5
$GPS,170807,000537,4807.570,-12223.468,11,1.1,27,18.3