version: 66.01
glider: 112
mission: 2
dive: 137
start: 8 20 107 8 19 2
data:
$ID,112
$MISSION,2
$DIVE,137
$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,-26065.336
$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,21
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.059999999
$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
$GPS1,081333,4807.913,-12224.017,11,1.3,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-50.3
$GPS2,081839,4807.951,-12224.058,15,1.5,15,18.3
$SPEED_LIMITS,0.173,0.217
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,250.000
$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,19.9,115,-27.5,-10.000
$D_GRID,103
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.40,-93.5,0.0,0.0,0,89,0.00,0.00,-59.05,0.000,2,0.000,0.000,680,2139,2103
$GC,93,-1.49,-146.6,3.1,-2.8,12,150,13.45,2.97,-35.88,0.000,4,0.285,0.074,2011,3566,3264
$GC,380,-1.34,-146.6,37.7,-15.2,53,386,0.25,2.75,0.00,0.000,6,0.179,0.033,2044,2144,3267
$GC,578,-1.27,-146.6,64.5,-13.3,71,579,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,2142,3268
$STATE,861,end dive,TARGET_DEPTH_EXCEEDED
$STATE,861,begin apogee
$GC,869,-0.23,0.0,103.7,13.4,98,999,1.55,0.00,124.35,0.673,6,0.165,0.000,2288,2422,2664
$STATE,999,end apogee,CONTROL_FINISHED_OK
$STATE,999,begin climb
$GC,1003,1.49,146.6,107.4,0.0,111,1131,2.03,0.00,123.22,0.661,6,0.083,0.000,2663,2422,2066
$GC,1448,1.41,146.6,32.7,18.4,154,1453,0.00,3.10,0.00,0.000,4,0.000,0.097,2663,3805,2065
$GC,1521,1.30,146.6,18.6,19.3,160,1528,0.25,2.65,0.00,0.000,6,0.146,0.038,2628,2430,2065
$GC,1596,1.30,146.6,6.9,14.1,173,1601,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2430,2064
$GC,1671,1.67,311.3,5.1,-1.8,186,1778,0.35,0.00,103.32,0.621,2,0.051,0.000,2703,2429,1468
$STATE,1779,end climb,SURFACE_DEPTH_REACHED
$STATE,1779,begin surface coast
$FINISH,1.5,1.010749
$STATE,1813,end surface coast,CONTROL_FINISHED_OK
$STATE,1813,begin surface
$SM_CCo,1836,32.72,0.611,0,0,1236,350.04
$SM_GC,2.63,0.00,0.00,32.72,0.000,0.000,0.611,683,2131,1236,-7.62,-0.71,350.04
$RAFOS_CLK,69
$RAFOS,3,1187598844,8.583333,8.567778,50,41,41,0,0,0,532,946,1123,0,0,0
$RAFOS,2,1187598246,8.416667,8.401667,51,44,43,0,0,0,32,80,139,0,0,0
$RAFOS,0,1187597046,8.083333,8.068334,42,38,38,0,0,0,32,89,1106,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4751.72,-12216.40,200807,111117
$TT8_MAMPS,0.024544
$HUMID,2077
$INTERNAL_PRESSURE,11.3676
$TCM_TEMP,11.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.0
$24V_AH,20.9,36.251
$10V_AH,10.0,11.784
$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,28.175,12.650,350.900,32.725,0.000,40.715,47.457,112.295,0.250,16.474,328.736,872.570,462.654,224.390,305.912,0.000,668.549,0.000,216.900,1080.000,2.556
$DEVICE_MAMPS,284.557,97.409,673.426,610.532,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,20.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,149.888,147.323,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6453,213
$CFSIZE,260165632,252411904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1489.9
$GPS,200807,085109,4808.128,-12223.917,12,1.4,12,18.3