version: 66.01
glider: 112
mission: 2
dive: 77
start: 8 18 107 12 15 0
data:
$ID,112
$MISSION,2
$DIVE,77
$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,-24779.725
$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,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
$GPS1,121002,4806.648,-12222.719,6,1.4,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-50.3
$GPS2,121438,4806.630,-12222.733,10,1.9,10,18.3
$SPEED_LIMITS,0.173,0.217
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$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,310.0,2982,-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,-146.6,0.0,0.0,0,58,0.00,0.00,-29.60,0.000,2,0.000,0.000,683,2137,2049
$GC,61,-1.23,-146.6,3.2,-3.5,6,128,14.40,3.05,-43.47,0.000,4,0.290,0.080,2066,3571,3264
$GC,319,-1.10,-146.6,31.0,-11.3,44,325,0.22,2.75,0.00,0.000,6,0.179,0.033,2095,2141,3266
$GC,516,-1.03,-146.6,51.4,-10.5,63,521,0.00,2.88,0.00,0.000,4,0.000,0.077,2096,756,3267
$GC,560,-0.96,-146.6,56.3,-11.0,66,566,0.22,2.72,0.00,0.000,6,0.183,0.036,2124,2166,3267
$GC,888,-0.96,-146.6,85.6,-8.6,97,892,0.00,3.08,0.00,0.000,4,0.000,0.097,2124,3568,3268
$GC,972,-0.96,-146.6,93.8,-9.9,104,977,0.00,2.67,0.00,0.000,6,0.000,0.035,2124,2172,3267
$STATE,1104,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1104,begin apogee
$GC,1112,-0.23,0.0,105.9,8.9,116,1240,0.98,0.00,123.95,0.693,6,0.150,0.000,2288,2437,2664
$STATE,1241,end apogee,CONTROL_FINISHED_OK
$STATE,1241,begin climb
$GC,1244,1.23,146.6,108.9,0.0,129,1373,1.73,0.00,123.22,0.678,6,0.086,0.000,2605,2437,2065
$GC,1690,1.11,146.6,45.7,15.3,172,1692,0.15,0.00,0.00,0.000,6,0.131,0.000,2584,2437,2064
$GC,1882,1.04,146.6,19.5,13.1,190,1887,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2437,2064
$GC,1956,0.99,146.6,9.9,12.8,203,1961,0.15,0.00,0.00,0.000,6,0.118,0.000,2558,2438,2064
$GC,2030,1.26,276.4,4.8,4.1,216,2117,0.25,3.05,78.18,0.635,4,0.050,0.088,2614,3807,1536
$STATE,2121,end climb,SURFACE_DEPTH_REACHED
$STATE,2121,begin surface coast
$FINISH,1.6,1.009706
$STATE,2167,end surface coast,CONTROL_FINISHED_OK
$STATE,2167,begin surface
$SM_CCo,2192,41.72,0.611,0,0,1237,350.04
$SM_GC,3.19,0.00,0.00,41.72,0.000,0.000,0.611,678,2141,1237,-7.65,-0.45,350.04
$RAFOS_CLK,92
$RAFOS,4,1187441050,12.750000,12.736111,41,41,39,0,0,0,139,825,506,0,0,0
$RAFOS,3,1187440445,12.583333,12.568055,43,42,42,0,0,0,32,379,620,0,0,0
$RAFOS,2,1187439841,12.416667,12.400278,45,44,43,0,0,0,110,236,32,0,0,0
$RAFOS,0,1187438648,12.083333,12.068889,47,40,39,0,0,0,110,32,867,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12224.57,180807,151522
$TT8_MAMPS,0.024544
$HUMID,2063
$INTERNAL_PRESSURE,11.3383
$TCM_TEMP,12.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.1
$24V_AH,20.9,31.456
$10V_AH,10.0,10.607
$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,28.000,24.100,325.350,41.725,0.000,39.087,52.504,84.177,0.250,12.011,393.299,1149.893,444.406,253.547,286.440,0.000,676.780,0.000,249.806,1080.000,2.555
$DEVICE_MAMPS,289.926,97.409,692.601,611.299,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,20.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,169.216,170.979,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9581,242
$CFSIZE,260165632,253665280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$SOUNDSPEED,1488.7
$GPS,180807,125309,4806.854,-12222.882,8,1.7,8,18.3