version: 66.01
glider: 112
mission: 2
dive: 86
start: 8 18 107 18 58 32
data:
$ID,112
$MISSION,2
$DIVE,86
$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,-24986.75
$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,15
$R_STBD_OVSHOOT,25
$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
$GPS1,184933,4807.741,-12223.553,12,2.0,12,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-50.3
$GPS2,185808,4807.803,-12223.559,34,1.5,34,18.3
$SPEED_LIMITS,0.173,0.217
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$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,136.8,1640,-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,-1.23,-146.6,0.0,0.0,0,61,0.00,0.00,-34.10,0.000,2,0.000,0.000,681,2141,2163
$GC,65,-1.23,-146.6,3.3,-4.3,7,122,14.02,2.97,-36.42,0.000,4,0.286,0.076,2064,3554,3262
$GC,274,-1.09,-146.6,23.7,-11.5,43,280,0.25,2.72,0.00,0.000,6,0.191,0.033,2096,2142,3265
$GC,472,-1.01,-146.6,44.0,-9.9,61,478,0.15,2.92,0.00,0.000,4,0.206,0.081,2116,750,3266
$GC,506,-0.97,-146.6,47.5,-9.7,63,512,0.00,2.65,0.00,0.000,6,0.000,0.035,2116,2136,3266
$GC,704,-0.95,-146.6,66.5,-9.6,82,709,0.00,3.10,0.00,0.000,4,0.000,0.092,2116,3565,3266
$GC,766,-0.92,-146.6,72.7,-10.2,87,772,0.15,2.72,0.00,0.000,6,0.167,0.035,2135,2146,3266
$GC,1092,-0.94,-146.6,101.3,-8.5,117,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2146,3266
$STATE,1141,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1141,begin apogee
$GC,1148,-0.23,0.0,105.8,8.6,122,1276,0.93,0.00,123.60,0.688,6,0.140,0.000,2286,2436,2664
$STATE,1277,end apogee,CONTROL_FINISHED_OK
$STATE,1277,begin climb
$GC,1280,1.23,146.6,108.7,0.0,135,1409,1.75,0.00,123.50,0.671,6,0.084,0.000,2609,2436,2066
$GC,1725,1.11,146.6,44.5,15.9,178,1731,0.15,3.05,0.00,0.000,4,0.131,0.094,2584,3807,2064
$GC,1767,1.01,146.6,38.0,16.0,181,1773,0.15,2.72,0.00,0.000,6,0.128,0.038,2563,2425,2064
$GC,1970,0.98,146.6,13.1,10.9,204,1975,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2425,2063
$GC,2044,1.13,219.2,5.6,6.7,217,2101,0.12,3.08,46.78,0.646,4,0.059,0.080,2590,3803,1769
$STATE,2104,end climb,SURFACE_DEPTH_REACHED
$STATE,2105,begin surface coast
$FINISH,1.6,1.008844
$STATE,2147,end surface coast,CONTROL_FINISHED_OK
$STATE,2147,begin surface
$SM_CCo,2171,69.60,0.610,0,0,1237,350.04
$SM_GC,2.34,0.00,0.00,69.60,0.000,0.000,0.610,681,2143,1237,-7.63,-0.37,350.04
$RAFOS_CLK,99
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4751.72,-12223.57,180807,222228
$TT8_MAMPS,0.024544
$HUMID,2068
$INTERNAL_PRESSURE,11.3286
$TCM_TEMP,11.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.3
$24V_AH,20.9,32.187
$10V_AH,10.0,10.788
$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,27.375,29.900,293.875,69.600,0.000,78.368,98.475,146.068,0.250,35.650,395.821,1220.967,448.727,261.941,446.619,0.000,670.976,0.000,237.622,0.000,2.557
$DEVICE_MAMPS,286.091,94.341,687.999,609.765,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,20.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,165.747,166.719,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6469,236
$CFSIZE,260165632,253476864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1487.7
$GPS,180807,193650,4807.606,-12223.353,7,1.4,12,18.3