version: 66.01
glider: 112
mission: 3
dive: 11
start: 8 29 107 4 38 55
data:
$ID,112
$MISSION,3
$DIVE,11
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$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,65
$T_MISSION,80
$T_ABORT,1440
$T_TURN,300
$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,51502
$NAV_MODE,0
$FERRY_MAX,0
$KALMAN_USE,1
$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,-26933.74
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,0.2
$RAFOS_CORR_THRESH,80
$RAFOS_HIT_WINDOW,5400
$PITCH_MIN,679
$PITCH_MAX,3252
$C_PITCH,2675
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,65
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,168
$ROLL_MAX,3823
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,14
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.059999999
$VBD_MIN,289
$VBD_MAX,3753
$C_VBD,2787
$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,-3.8012359
$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
$GPS1,043329,4807.216,-12223.481,8,4.4,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-48.1
$GPS2,043801,4807.210,-12223.486,35,1.6,39,18.3
$SPEED_LIMITS,0.133,0.201
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.147,-0.136
$KALMAN_X,-838.8,-219.3,71.9,1849.1,-59.4
$KALMAN_Y,792.8,217.4,32.2,-2309.7,-42.0
$MHEAD_RNG_PITCHd_Wd,122.3,2899,-17.4,-7.692
$D_GRID,101
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.07,-146.6,0.0,0.0,0,91,0.00,0.00,-71.47,0.000,2,0.000,0.000,678,2005,2212
$GC,93,-1.07,-146.6,3.1,-4.2,14,154,17.83,2.97,-34.65,0.000,4,0.294,0.082,2435,3412,3386
$GC,349,-0.98,-146.6,31.6,-14.2,53,357,0.15,2.70,0.00,0.000,6,0.150,0.031,2456,1987,3387
$GC,546,-0.94,-146.6,55.5,-12.3,72,547,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1987,3387
$GC,865,-0.92,-146.6,94.2,-11.8,102,870,0.00,2.90,0.00,0.000,4,0.000,0.085,2456,592,3387
$STATE,924,end dive,TARGET_DEPTH_EXCEEDED
$STATE,924,begin apogee
$GC,931,-0.24,0.0,101.7,12.5,107,1057,0.98,0.00,120.60,0.697,6,0.138,0.000,2618,2199,2787
$STATE,1058,end apogee,CONTROL_FINISHED_OK
$STATE,1058,begin climb
$GC,1059,1.07,146.6,106.4,0.0,120,1192,1.58,3.40,121.97,0.676,4,0.087,0.114,2907,3606,2189
$GC,1225,0.90,146.6,93.7,13.2,136,1230,0.25,2.83,0.00,0.000,6,0.144,0.037,2871,2198,2189
$GC,1548,0.84,146.6,60.1,9.7,166,1553,0.00,3.03,0.00,0.000,4,0.000,0.090,2871,793,2188
$GC,1614,0.76,146.6,53.4,9.9,171,1621,0.20,2.80,0.00,0.000,6,0.127,0.050,2841,2193,2188
$GC,1938,0.77,151.7,27.7,7.5,202,1944,0.00,0.00,3.65,0.755,6,0.000,0.000,2841,2193,2168
$GC,2134,0.81,172.3,13.1,7.0,228,2155,0.00,0.00,16.05,0.703,6,0.000,0.000,2840,2194,2083
$GC,2222,0.85,183.7,6.8,7.3,244,2232,0.00,0.00,8.77,0.704,6,0.000,0.000,2841,2194,2038
$GC,2299,1.22,333.7,3.4,2.4,258,2377,0.45,0.00,73.65,0.657,2,0.037,0.000,2942,2194,1553
$STATE,2377,end climb,SURFACE_DEPTH_REACHED
$STATE,2377,begin surface coast
$FINISH,0.9,1.008429
$STATE,2460,end surface coast,CONTROL_FINISHED_OK
$STATE,2460,begin surface
$SM_CCo,2478,31.23,0.640,0,0,1360,350.04
$SM_GC,1.64,0.00,0.00,31.23,0.000,0.000,0.640,681,1973,1360,-9.17,-0.76,350.04
$RAFOS_CLK,104
$RAFOS,0,1188363942,5.111111,5.095000,45,40,40,0,0,0,930,32,110,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12221.84,290807,070743
$TT8_MAMPS,0.023777
$HUMID,2100
$INTERNAL_PRESSURE,10.5863
$TCM_TEMP,11.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,18.7
$24V_AH,20.9,1.295
$10V_AH,10.9,0.300
$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,33.000,24.250,344.700,31.225,0.000,32.782,58.157,81.164,0.500,41.266,441.632,1337.941,483.288,325.293,211.057,33.327,749.722,0.000,290.827,360.000,2.559
$DEVICE_MAMPS,293.761,113.516,754.728,639.678,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,20.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,198.240,205.956,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9570,288
$CFSIZE,260165632,257146880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1488.1
$GPS,290807,052152,4806.942,-12223.235,9,2.8,28,18.3