version: 66.01
glider: 112
mission: 2
dive: 106
start: 8 19 107 9 51 18
data:
$ID,112
$MISSION,2
$DIVE,106
$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,-25426.389
$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,65
$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,15
$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
$GPS1,094611,4807.300,-12223.228,8,2.2,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-50.3
$GPS2,095056,4807.297,-12223.234,8,1.7,13,18.3
$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,305.7,1609,-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,-146.6,0.0,0.0,0,63,0.00,0.00,-34.45,0.000,2,0.000,0.000,682,2139,2170
$GC,66,-1.23,-146.6,3.4,-4.4,7,123,14.77,2.88,-33.33,0.000,4,0.296,0.073,2065,748,3264
$GC,376,-1.08,-146.6,40.6,-14.1,50,382,0.25,2.72,0.00,0.000,6,0.178,0.035,2099,2164,3267
$GC,574,-1.01,-146.6,64.1,-11.5,68,579,0.12,2.90,0.00,0.000,4,0.171,0.064,2114,750,3267
$GC,832,-0.96,-146.6,91.2,-10.6,90,838,0.00,2.72,0.00,0.000,6,0.000,0.037,2115,2165,3267
$STATE,973,end dive,TARGET_DEPTH_EXCEEDED
$STATE,973,begin apogee
$GC,981,-0.23,0.0,105.4,9.9,104,1109,1.02,0.00,124.15,0.686,6,0.146,0.000,2287,2428,2664
$STATE,1110,end apogee,CONTROL_FINISHED_OK
$STATE,1110,begin climb
$GC,1113,1.23,146.6,108.4,0.0,117,1246,1.75,3.38,122.88,0.679,4,0.090,0.119,2607,3811,2065
$GC,1255,1.20,146.6,93.4,15.4,130,1260,0.00,2.83,0.00,0.000,6,0.000,0.037,2607,2410,2065
$GC,1582,1.09,146.6,44.0,14.8,161,1588,0.20,0.00,0.00,0.000,6,0.130,0.000,2577,2409,2064
$GC,1782,1.05,146.6,19.1,12.3,180,1788,0.00,3.05,0.00,0.000,4,0.000,0.082,2578,3816,2063
$GC,1817,0.97,146.6,14.5,12.6,186,1823,0.17,2.75,0.00,0.000,6,0.127,0.038,2552,2408,2063
$GC,1893,1.10,178.0,7.4,8.6,199,1925,0.15,3.05,25.00,0.657,4,0.053,0.080,2589,3817,1937
$GC,1960,1.32,304.5,3.8,4.2,211,2007,0.20,2.55,41.25,0.630,2,0.051,0.033,2632,2501,1616
$STATE,2008,end climb,SURFACE_DEPTH_REACHED
$STATE,2008,begin surface coast
$FINISH,1.6,1.009007
$STATE,2012,end surface coast,CONTROL_FINISHED_OK
$STATE,2012,begin surface
$SM_CCo,2034,54.67,0.607,0,0,1236,350.04
$SM_GC,2.97,0.00,0.00,54.67,0.000,0.000,0.607,678,2137,1236,-7.64,-0.54,350.04
$RAFOS_CLK,86
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12221.84,190807,131334
$TT8_MAMPS,0.024544
$HUMID,2080
$INTERNAL_PRESSURE,11.3286
$TCM_TEMP,11.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,17.7
$24V_AH,20.9,33.769
$10V_AH,9.9,11.179
$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,28.625,30.100,313.275,54.675,0.000,40.160,51.696,87.263,0.250,15.468,374.786,1026.101,443.599,256.362,290.124,0.000,678.282,0.000,250.528,0.000,2.557
$DEVICE_MAMPS,296.062,118.885,686.465,606.697,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,20.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,153.401,155.040,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6457,221
$CFSIZE,260165632,253054976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1488.5
$GPS,190807,102723,4807.294,-12223.442,10,2.1,29,18.3