version: 66.01
glider: 112
mission: 2
dive: 66
start: 8 18 107 4 0 24
data:
$ID,112
$MISSION,2
$DIVE,66
$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,0
$FERRY_MAX,0
$KALMAN_USE,2
$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,-24576.646
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,0.2
$RAFOS_CORR_THRESH,80
$RAFOS_HIT_WINDOW,5400
$PITCH_MIN,679
$PITCH_MAX,3252
$C_PITCH,2340
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22.200001
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,75
$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,9
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,23
$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
$GPS1,035521,4806.917,-12222.827,10,1.4,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-50.3
$GPS2,040002,4806.943,-12222.873,10,1.4,15,18.3
$SPEED_LIMITS,0.173,0.217
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.121,-0.181
$KALMAN_X,-388.0,-274.5,-103.5,1777.5,-64.7
$KALMAN_Y,4697.1,464.7,11.9,-7433.8,82.3
$MHEAD_RNG_PITCHd_Wd,130.0,2053,-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,26,-1.23,-146.6,0.0,0.0,0,62,0.00,0.00,-34.40,0.000,2,0.000,0.000,680,2137,2161
$GC,66,-1.23,-146.6,3.2,-3.2,7,128,13.65,3.03,-40.67,0.000,4,0.278,0.084,2066,3554,3263
$GC,152,-1.02,-146.6,8.7,-14.3,23,158,0.35,2.72,0.00,0.000,6,0.182,0.033,2112,2141,3264
$GC,227,-0.98,-146.6,17.9,-11.3,36,232,0.00,2.92,0.00,0.000,4,0.000,0.077,2113,749,3265
$GC,239,-0.94,-146.6,19.3,-10.8,38,245,0.15,2.78,0.00,0.000,6,0.178,0.036,2131,2177,3265
$GC,316,-0.94,-146.6,26.7,-9.5,46,317,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2178,3266
$GC,507,-0.94,-146.6,43.8,-8.1,64,508,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2178,3266
$GC,699,-0.95,-146.6,59.3,-8.1,82,703,0.00,3.00,0.00,0.000,4,0.000,0.093,2131,3561,3267
$GC,731,-0.95,-146.6,62.2,-8.2,84,737,0.00,2.62,0.00,0.000,6,0.000,0.032,2131,2183,3266
$GC,1059,-0.97,-146.6,89.7,-8.6,115,1064,0.00,2.92,0.00,0.000,4,0.000,0.077,2131,3564,3266
$GC,1171,-1.00,-146.6,100.2,-8.8,124,1177,0.00,2.60,0.00,0.000,6,0.000,0.035,2131,2204,3267
$STATE,1227,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1227,begin apogee
$GC,1235,-0.23,0.0,105.3,8.7,130,1363,0.93,0.00,123.82,0.695,6,0.134,0.000,2284,2430,2664
$STATE,1364,end apogee,CONTROL_FINISHED_OK
$STATE,1364,begin climb
$GC,1367,1.23,146.6,108.1,0.0,143,1500,1.77,3.15,122.82,0.683,4,0.088,0.093,2607,3804,2065
$GC,1548,1.07,146.6,86.5,17.5,160,1554,0.22,2.80,0.00,0.000,6,0.132,0.038,2575,2415,2065
$GC,1873,1.00,146.6,40.4,13.7,190,1878,0.00,3.03,0.00,0.000,4,0.000,0.081,2575,3804,2064
$GC,1935,0.91,146.6,31.4,14.4,195,1941,0.22,2.70,0.00,0.000,6,0.123,0.038,2541,2431,2063
$GC,2138,0.93,146.6,7.4,12.6,222,2142,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2430,2063
$STATE,2208,end climb,SURFACE_DEPTH_REACHED
$STATE,2208,begin surface coast
$FINISH,1.7,1.008990
$STATE,2260,end surface coast,CONTROL_FINISHED_OK
$STATE,2260,begin surface
$SM_CCo,2281,119.47,0.624,0,0,1237,350.04
$SM_GC,2.45,0.00,0.00,119.47,0.000,0.000,0.624,681,2136,1237,-7.63,-0.57,350.04
$RAFOS_CLK,94
$RAFOS,2,1187411045,4.416667,4.401389,45,42,41,0,0,0,945,558,200,0,0,0
$RAFOS,1,1187410443,4.250000,4.234167,48,41,40,0,0,0,32,801,114,0,0,0
$RAFOS,0,1187409841,4.083333,4.066945,44,43,40,0,0,0,110,581,174,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12220.12,180807,070739
$TT8_MAMPS,0.024544
$HUMID,2050
$INTERNAL_PRESSURE,11.3188
$TCM_TEMP,10.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.3
$24V_AH,20.8,30.594
$10V_AH,9.9,10.394
$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,26.675,35.325,246.650,119.475,0.000,35.667,46.823,91.464,0.250,17.285,433.547,1242.852,460.407,268.605,294.379,0.000,705.226,0.000,260.596,1440.000,2.557
$DEVICE_MAMPS,278.421,92.807,694.902,623.571,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,20.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,169.658,174.386,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9597,244
$CFSIZE,260165632,253898752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1487.3
$GPS,180807,044121,4806.780,-12222.688,10,1.8,10,18.3