version: 66.01
glider: 112
mission: 2
dive: 69
start: 8 18 107 6 21 57
data:
$ID,112
$MISSION,2
$DIVE,69
$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,-24620.83
$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,33
$R_STBD_OVSHOOT,10
$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
$GPS1,061333,4806.474,-12222.364,6,1.2,6,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-50.3
$GPS2,062132,4806.533,-12222.438,10,1.2,15,18.3
$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,132.9,1126,-21.9,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.23,-146.6,0.0,0.0,0,57,0.00,0.00,-29.48,0.000,2,0.000,0.000,682,2130,2042
$GC,61,-1.23,-146.6,3.2,-3.2,6,127,13.45,0.00,-46.38,0.000,6,0.276,0.000,2066,2130,3262
$GC,195,-1.09,-146.6,10.8,-10.4,31,201,0.17,3.10,0.00,0.000,4,0.164,0.080,2092,3573,3264
$GC,270,-1.00,-146.6,18.0,-9.4,44,276,0.20,2.70,0.00,0.000,6,0.159,0.031,2119,2164,3265
$GC,348,-0.96,-146.6,24.7,-8.5,53,349,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2165,3265
$GC,539,-0.94,-146.6,41.1,-8.5,71,544,0.00,2.92,0.00,0.000,4,0.000,0.077,2119,755,3265
$GC,578,-0.92,-146.6,45.1,-10.1,74,583,0.00,2.65,0.00,0.000,6,0.000,0.035,2119,2136,3266
$GC,778,-0.91,-146.6,64.2,-9.6,92,783,0.15,3.10,0.00,0.000,4,0.157,0.094,2142,3559,3266
$GC,852,-0.95,-146.6,71.0,-8.7,98,857,0.00,2.75,0.00,0.000,6,0.000,0.035,2142,2129,3265
$GC,1181,-1.00,-146.6,98.0,-7.9,128,1186,0.00,3.03,0.00,0.000,4,0.000,0.077,2142,3562,3266
$GC,1215,-1.04,-146.6,101.1,-8.2,130,1221,0.15,2.75,0.00,0.000,6,0.054,0.035,2111,2129,3266
$STATE,1292,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1292,begin apogee
$GC,1300,-0.23,0.0,108.5,9.5,138,1428,1.02,0.00,123.65,0.698,6,0.133,0.000,2288,2431,2664
$STATE,1429,end apogee,CONTROL_FINISHED_OK
$STATE,1429,begin climb
$GC,1432,1.23,146.6,111.3,0.0,151,1564,1.73,0.00,123.40,0.679,6,0.084,0.000,2608,2430,2065
$GC,1883,1.10,146.6,46.5,14.9,194,1889,0.17,3.05,0.00,0.000,4,0.130,0.093,2580,3803,2063
$GC,1935,1.00,146.6,38.7,14.8,198,1940,0.15,2.70,0.00,0.000,6,0.128,0.038,2558,2430,2063
$GC,2137,0.97,146.6,14.7,11.7,220,2143,0.00,3.03,0.00,0.000,4,0.000,0.083,2558,1006,2063
$GC,2166,0.94,146.6,11.0,12.3,225,2172,0.00,2.80,0.00,0.000,6,0.000,0.050,2558,2407,2062
$GC,2241,1.10,220.4,4.4,6.6,238,2288,0.00,3.22,40.17,0.642,4,0.000,0.107,2558,3817,1764
$STATE,2291,end climb,SURFACE_DEPTH_REACHED
$STATE,2291,begin surface coast
$FINISH,1.6,1.018078
$STATE,2356,end surface coast,CONTROL_FINISHED_OK
$STATE,2356,begin surface
$SM_CCo,2381,70.43,0.615,0,0,1236,350.04
$SM_GC,2.53,0.00,0.00,70.43,0.000,0.000,0.615,682,2136,1236,-7.63,-0.57,350.04
$RAFOS_CLK,108
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12224.57,180807,101027
$TT8_MAMPS,0.024544
$HUMID,2049
$INTERNAL_PRESSURE,11.3286
$TCM_TEMP,11.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.4
$24V_AH,20.5,30.832
$10V_AH,10.0,10.454
$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,26.850,41.775,287.225,70.425,0.000,78.300,94.510,132.421,0.250,17.097,448.731,1332.892,458.025,272.723,437.518,0.000,706.929,0.000,263.057,0.000,2.555
$DEVICE_MAMPS,276.120,107.380,697.970,615.134,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,20.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,180.122,183.678,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9618,259
$CFSIZE,260165632,253825024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1488.0
$GPS,180807,070408,4806.317,-12222.188,34,1.0,34,18.3