version: 66.01
glider: 112
mission: 2
dive: 32
start: 8 17 107 0 59 34
data:
$ID,112
$MISSION,2
$DIVE,32
$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,-23846.217
$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,40
$R_STBD_OVSHOOT,11
$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
$GPS1,005357,4807.448,-12223.363,11,1.1,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.53
$_SM_ANGLEo,-50.3
$GPS2,005838,4807.483,-12223.380,12,1.0,12,18.3
$SPEED_LIMITS,0.173,0.217
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.090,-0.198
$KALMAN_X,1422.8,-37.5,-84.6,-731.3,-7.9
$KALMAN_Y,726.0,154.3,89.5,-2474.1,70.1
$MHEAD_RNG_PITCHd_Wd,137.2,1011,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.20,-146.6,0.0,0.0,0,62,0.00,0.00,-34.25,0.000,2,0.000,0.000,680,2123,2160
$GC,66,-1.20,-146.6,3.3,-3.5,7,118,14.00,2.83,-31.67,0.000,4,0.285,0.068,2065,771,3263
$GC,218,-0.93,-146.6,18.4,-11.8,34,224,0.43,2.67,0.00,0.000,6,0.158,0.033,2127,2166,3265
$GC,295,-0.93,-146.6,26.0,-8.9,42,300,0.00,3.00,0.00,0.000,4,0.000,0.085,2127,3563,3266
$GC,328,-0.93,-146.6,29.2,-9.0,44,333,0.00,2.60,0.00,0.000,6,0.000,0.031,2127,2196,3266
$GC,525,-0.93,-146.6,46.1,-8.9,63,530,0.00,2.88,0.00,0.000,4,0.000,0.074,2127,3561,3267
$GC,558,-0.93,-146.6,49.3,-9.2,65,564,0.00,2.58,0.00,0.000,6,0.000,0.032,2127,2211,3268
$GC,756,-0.93,-146.6,66.5,-8.3,84,761,0.00,3.05,0.00,0.000,4,0.000,0.081,2128,758,3268
$GC,807,-0.93,-146.6,71.0,-8.7,88,811,0.00,2.78,0.00,0.000,6,0.000,0.036,2127,2204,3268
$GC,1134,-0.98,-146.6,98.1,-8.2,118,1139,0.00,2.95,0.00,0.000,4,0.000,0.093,2127,3567,3268
$GC,1185,-1.04,-146.6,102.7,-8.7,122,1190,0.00,2.60,0.00,0.000,6,0.000,0.034,2127,2201,3268
$STATE,1220,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1220,begin apogee
$GC,1228,-0.22,0.0,105.8,8.3,125,1356,0.90,0.00,123.70,0.703,6,0.121,0.000,2281,2428,2664
$STATE,1357,end apogee,CONTROL_FINISHED_OK
$STATE,1357,begin climb
$GC,1360,1.20,146.6,108.4,0.0,138,1493,1.67,3.15,122.57,0.683,4,0.081,0.091,2594,3803,2066
$GC,1541,0.91,146.6,87.1,16.3,155,1547,0.40,2.78,0.00,0.000,6,0.124,0.038,2533,2422,2066
$GC,1866,0.91,146.6,50.5,10.6,185,1867,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2422,2065
$GC,2189,0.91,146.6,16.0,10.5,218,2194,0.00,2.97,0.00,0.000,4,0.000,0.081,2533,3804,2064
$GC,2251,0.91,146.6,8.7,11.0,229,2257,0.00,2.70,0.00,0.000,6,0.000,0.036,2533,2409,2064
$GC,2326,1.31,259.1,3.6,4.9,242,2358,0.40,0.00,28.83,0.668,2,0.039,0.000,2621,2408,1846
$STATE,2358,end climb,SURFACE_DEPTH_REACHED
$STATE,2359,begin surface coast
$FINISH,1.6,1.000675
$STATE,2391,end surface coast,CONTROL_FINISHED_OK
$STATE,2391,begin surface
$SM_CCo,2413,84.00,0.629,0,0,1237,350.04
$SM_GC,2.67,0.00,0.00,84.00,0.000,0.000,0.629,679,2142,1237,-7.61,-0.42,350.04
$RAFOS_CLK,105
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4751.72,-12226.29,170807,040434
$TT8_MAMPS,0.024544
$HUMID,2060
$INTERNAL_PRESSURE,11.3286
$TCM_TEMP,11.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.1
$24V_AH,20.9,27.825
$10V_AH,10.0,9.673
$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,27.675,40.525,275.100,84.000,0.000,40.551,50.628,85.965,0.250,14.021,446.651,1330.447,445.037,271.343,301.031,33.342,696.108,0.000,266.969,0.000,2.557
$DEVICE_MAMPS,285.324,92.807,702.572,628.940,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,20.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,177.399,180.244,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9604,254
$CFSIZE,260165632,254672896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1487.7
$GPS,170807,014203,4807.335,-12223.249,7,1.8,7,18.3