version: 66.01
glider: 112
mission: 3
dive: 12
start: 8 29 107 5 26 58
data:
$ID,112
$MISSION,3
$DIVE,12
$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,-26949.818
$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,36
$R_STBD_OVSHOOT,9
$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
$GPS1,052152,4806.942,-12223.235,9,2.8,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-48.1
$GPS2,052603,4806.938,-12223.228,13,1.4,13,18.3
$SPEED_LIMITS,0.133,0.201
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.164,-0.116
$KALMAN_X,-965.9,-194.9,105.3,2235.4,-93.1
$KALMAN_Y,707.0,215.7,-16.4,-2675.1,-84.9
$MHEAD_RNG_PITCHd_Wd,120.6,2308,-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,16,begin dive
$GC,17,-1.07,-146.6,0.0,0.0,0,50,0.00,0.00,-31.08,0.000,2,0.000,0.000,681,1973,2274
$GC,52,-1.07,-146.6,3.4,-6.1,6,109,17.92,2.75,-30.92,0.000,4,0.294,0.067,2435,614,3386
$GC,444,-1.00,-146.6,52.6,-14.5,56,452,0.12,2.70,0.00,0.000,6,0.151,0.041,2452,2011,3387
$GC,769,-0.97,-146.6,92.8,-12.3,87,774,0.00,2.83,0.00,0.000,4,0.000,0.064,2453,614,3388
$STATE,833,end dive,TARGET_DEPTH_EXCEEDED
$STATE,833,begin apogee
$GC,840,-0.24,0.0,101.1,12.3,92,966,0.98,0.00,121.15,0.699,6,0.135,0.000,2615,2196,2787
$STATE,967,end apogee,CONTROL_FINISHED_OK
$STATE,967,begin climb
$GC,968,1.07,146.6,105.9,0.0,105,1101,1.58,3.45,122.32,0.680,4,0.087,0.115,2904,3611,2189
$GC,1179,0.92,146.6,87.3,13.8,125,1184,0.20,2.78,0.00,0.000,6,0.146,0.037,2876,2214,2189
$GC,1503,0.85,146.6,53.8,10.1,155,1504,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2214,2188
$GC,1822,0.79,146.6,22.7,9.5,185,1827,0.15,3.03,0.00,0.000,4,0.131,0.087,2849,790,2188
$GC,1849,0.76,146.6,20.2,8.8,187,1854,0.00,2.75,0.00,0.000,6,0.000,0.051,2849,2186,2188
$GC,2056,0.88,215.2,5.2,5.3,223,2112,0.00,0.00,51.70,0.676,6,0.000,0.000,2849,2186,1909
$GC,2179,1.34,411.6,2.4,0.8,246,2216,0.55,0.00,33.70,0.659,2,0.033,0.000,2975,2186,1655
$STATE,2217,end climb,SURFACE_DEPTH_REACHED
$STATE,2217,begin surface coast
$FINISH,1.0,1.008851
$STATE,2345,end surface coast,CONTROL_FINISHED_OK
$STATE,2345,begin surface
$SM_CCo,2363,43.85,0.641,0,0,1360,350.04
$SM_GC,3.14,0.00,0.00,43.85,0.000,0.000,0.641,680,1973,1360,-9.18,-0.76,350.04
$RAFOS_CLK,100
$RAFOS,1,1188365364,5.505560,5.490000,47,47,43,0,0,0,80,783,191,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12139.83,290807,080859
$TT8_MAMPS,0.025311
$HUMID,2122
$INTERNAL_PRESSURE,10.5961
$TCM_TEMP,12.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.7
$24V_AH,20.9,1.376
$10V_AH,10.9,0.320
$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,33.275,23.825,328.875,43.850,0.000,36.588,47.393,91.695,0.250,15.449,442.547,1277.695,438.798,302.690,214.621,33.330,703.876,0.000,295.094,720.000,2.569
$DEVICE_MAMPS,293.761,115.050,698.737,641.212,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,20.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,189.827,198.006,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9606,276
$CFSIZE,260165632,257122304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1488.2
$GPS,290807,060750,4806.822,-12222.902,7,1.8,7,18.3