version: 66.01
glider: 112
mission: 2
dive: 53
start: 8 17 107 17 42 11
data:
$ID,112
$MISSION,2
$DIVE,53
$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,-24291.287
$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,0.029999999
$PITCH_ADJ_DBAND,0.5
$ROLL_MIN,168
$ROLL_MAX,3823
$C_ROLL_DIVE,2156
$C_ROLL_CLIMB,2417
$HEAD_ERRBAND,9
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$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
$GPS1,173631,4807.853,-12223.634,34,1.0,40,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-50.3
$GPS2,174115,4807.916,-12223.686,10,1.2,10,18.3
$SPEED_LIMITS,0.173,0.217
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.067,-0.207
$KALMAN_X,1028.4,-64.5,-156.7,-615.5,-7.6
$KALMAN_Y,2199.2,-4.4,62.0,-2962.1,166.6
$MHEAD_RNG_PITCHd_Wd,143.7,1897,-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,-146.6,0.0,0.0,0,61,0.00,0.00,-34.15,0.000,2,0.000,0.000,678,2155,2162
$GC,65,-1.20,-146.6,3.3,-3.7,7,122,13.85,3.03,-34.90,0.000,4,0.281,0.087,2067,3565,3264
$GC,157,-0.95,-146.6,8.0,-6.1,24,163,0.40,2.72,0.00,0.000,6,0.184,0.031,2120,2139,3265
$GC,232,-0.92,-146.6,14.1,-8.1,37,238,0.00,2.85,0.00,0.000,4,0.000,0.071,2120,757,3266
$GC,379,-0.87,-146.6,27.7,-10.2,56,384,0.15,2.58,0.00,0.000,6,0.169,0.033,2139,2107,3267
$GC,577,-0.91,-146.6,44.5,-8.4,74,582,0.00,3.15,0.00,0.000,4,0.000,0.091,2139,3560,3267
$GC,657,-0.95,-146.6,51.6,-9.0,80,663,0.00,2.78,0.00,0.000,6,0.000,0.034,2138,2110,3267
$GC,985,-1.01,-146.6,79.0,-8.4,111,990,0.15,3.08,0.00,0.000,4,0.049,0.076,2102,3562,3267
$GC,1081,-0.92,-146.6,88.5,-8.5,119,1087,0.20,2.78,0.00,0.000,6,0.140,0.035,2130,2117,3267
$STATE,1275,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1276,begin apogee
$GC,1283,-0.22,0.0,105.0,8.4,137,1412,0.93,0.00,123.68,0.706,6,0.138,0.000,2281,2431,2664
$STATE,1413,end apogee,CONTROL_FINISHED_OK
$STATE,1413,begin climb
$GC,1416,1.20,146.6,107.8,0.0,150,1549,1.70,3.17,123.03,0.686,4,0.089,0.097,2591,3803,2065
$GC,1597,1.00,146.6,86.2,17.2,167,1603,0.25,2.78,0.00,0.000,6,0.126,0.038,2555,2422,2064
$GC,1922,0.96,146.6,44.0,12.4,197,1923,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2422,2064
$GC,2113,0.92,146.6,20.9,12.0,215,2118,0.00,3.00,0.00,0.000,4,0.000,0.082,2555,3810,2063
$GC,2153,0.85,146.6,16.1,12.3,220,2159,0.22,2.70,0.00,0.000,6,0.123,0.037,2520,2424,2062
$GC,2228,0.96,172.3,8.9,8.8,233,2255,0.12,3.03,20.42,0.679,4,0.058,0.085,2548,1014,1960
$STATE,2320,end climb,SURFACE_DEPTH_REACHED
$STATE,2320,begin surface coast
$FINISH,1.7,1.019377
$STATE,2388,end surface coast,CONTROL_FINISHED_OK
$STATE,2388,begin surface
$SM_CCo,2411,105.50,0.622,0,0,1237,350.04
$SM_GC,2.67,0.00,0.00,105.50,0.000,0.000,0.622,681,2146,1237,-7.60,-0.25,350.04
$RAFOS_CLK,107
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4751.72,-12223.57,170807,202006
$TT8_MAMPS,0.024544
$HUMID,2062
$INTERNAL_PRESSURE,11.3286
$TCM_TEMP,11.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.3
$24V_AH,20.9,29.546
$10V_AH,10.0,10.121
$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,27.375,40.575,267.125,105.500,0.000,41.107,45.469,94.360,0.250,11.789,457.618,1317.509,462.439,282.478,298.113,33.338,719.953,0.000,279.842,0.000,2.557
$DEVICE_MAMPS,281.489,96.642,705.640,622.037,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,20.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,181.749,186.079,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9617,262
$CFSIZE,260165632,254189568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$SOUNDSPEED,1487.0
$GPS,170807,182520,4807.761,-12223.560,9,1.4,26,18.3