version: 66.01
glider: 112
mission: 3
dive: 15
start: 8 29 107 7 53 28
data:
$ID,112
$MISSION,3
$DIVE,15
$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,-26998.449
$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,21
$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
$GPS1,074821,4806.509,-12222.314,12,1.3,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-48.1
$GPS2,075233,4806.496,-12222.303,15,1.4,15,18.3
$SPEED_LIMITS,0.133,0.201
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.063,-0.191
$KALMAN_X,-981.9,-154.5,53.5,3404.4,-10.4
$KALMAN_Y,1338.5,28.2,-184.5,-3777.2,130.0
$MHEAD_RNG_PITCHd_Wd,139.5,992,-17.4,-7.692
$D_GRID,108
$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,-146.6,0.0,0.0,0,45,0.00,0.00,-26.17,0.000,2,0.000,0.000,681,1987,2125
$GC,47,-1.07,-146.6,3.0,-5.1,5,114,17.73,3.05,-39.38,0.000,4,0.290,0.076,2436,3417,3386
$GC,415,-0.99,-146.6,47.5,-14.3,55,423,0.15,2.75,0.00,0.000,6,0.146,0.034,2457,1994,3388
$GC,613,-0.96,-146.6,71.9,-13.0,74,617,0.00,2.92,0.00,0.000,4,0.000,0.084,2457,597,3388
$GC,689,-0.94,-146.6,81.7,-12.2,80,696,0.00,2.75,0.00,0.000,6,0.000,0.041,2457,1998,3388
$STATE,906,end dive,TARGET_DEPTH_EXCEEDED
$STATE,906,begin apogee
$GC,910,-0.24,0.0,108.3,12.6,101,1039,1.02,0.00,121.55,0.703,6,0.149,0.000,2620,2200,2787
$STATE,1040,end apogee,CONTROL_FINISHED_OK
$STATE,1040,begin climb
$GC,1041,1.07,146.6,112.8,0.0,114,1173,1.58,0.00,123.22,0.683,6,0.089,0.000,2907,2200,2189
$GC,1490,0.94,146.6,66.3,12.1,157,1496,0.17,3.15,0.00,0.000,4,0.141,0.104,2882,3608,2188
$GC,1522,0.83,146.6,62.4,11.7,159,1529,0.15,2.72,0.00,0.000,6,0.139,0.035,2860,2210,2189
$GC,1846,0.80,146.6,33.5,8.7,190,1848,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2210,2188
$GC,2039,0.77,146.6,17.4,8.2,210,2045,0.00,3.00,0.00,0.000,4,0.000,0.088,2860,797,2187
$GC,2095,0.73,146.6,12.6,8.4,220,2101,0.15,2.78,0.00,0.000,6,0.128,0.050,2837,2197,2188
$GC,2168,0.79,169.5,7.4,6.9,233,2189,0.00,0.00,17.35,0.696,6,0.000,0.000,2837,2197,2096
$GC,2256,1.07,284.1,3.2,3.7,249,2338,0.32,3.35,71.38,0.654,4,0.038,0.109,2915,3606,1628
$STATE,2342,end climb,SURFACE_DEPTH_REACHED
$STATE,2342,begin surface coast
$FINISH,1.0,1.012592
$STATE,2410,end surface coast,CONTROL_FINISHED_OK
$STATE,2410,begin surface
$SM_CCo,2431,40.85,0.643,0,0,1360,350.04
$SM_GC,3.14,0.00,0.00,40.85,0.000,0.000,0.643,677,1990,1360,-9.19,-0.28,350.04
$RAFOS_CLK,98
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4751.72,-12226.29,290807,111107
$TT8_MAMPS,0.023777
$HUMID,2087
$INTERNAL_PRESSURE,10.5766
$TCM_TEMP,11.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,18.2
$24V_AH,20.8,1.644
$10V_AH,10.9,0.382
$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,32.800,30.150,333.500,40.850,0.000,40.704,43.944,87.572,0.250,16.623,438.155,1331.707,470.992,285.971,214.877,33.323,725.773,0.000,281.525,0.000,2.557
$DEVICE_MAMPS,289.926,108.914,703.339,642.746,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,20.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,195.222,198.923,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9596,278
$CFSIZE,260165632,257044480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1488.2
$GPS,290807,083527,4806.267,-12222.224,9,1.3,9,18.3