version: 66.01
glider: 112
mission: 3
dive: 21
start: 8 29 107 12 23 55
data:
$ID,112
$MISSION,3
$DIVE,21
$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,-27123.182
$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,19
$R_STBD_OVSHOOT,16
$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
$GPS1,121847,4805.916,-12221.816,8,3.2,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-48.1
$GPS2,122301,4805.917,-12221.806,33,1.0,38,18.3
$SPEED_LIMITS,0.133,0.201
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.151,-0.115
$KALMAN_X,-724.3,153.8,-111.7,3617.9,185.2
$KALMAN_Y,3005.7,-37.9,234.2,-6860.5,473.7
$MHEAD_RNG_PITCHd_Wd,284.2,285,-27.2,-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,-1.40,-63.1,0.0,0.0,0,51,0.00,0.00,-31.35,0.000,2,0.000,0.000,681,1999,2288
$GC,52,-1.44,-85.9,3.2,-5.8,6,99,17.80,2.88,-21.77,0.000,4,0.299,0.071,2354,591,3139
$GC,434,-1.38,-85.9,60.0,-16.6,52,441,0.00,2.75,0.00,0.000,6,0.000,0.038,2354,2000,3140
$STATE,736,end dive,TARGET_DEPTH_EXCEEDED
$STATE,736,begin apogee
$GC,740,-0.24,0.0,109.0,15.8,81,819,1.77,0.00,70.95,0.697,6,0.176,0.000,2618,2197,2787
$STATE,820,end apogee,CONTROL_FINISHED_OK
$STATE,820,begin climb
$GC,821,1.44,85.9,112.6,0.0,89,904,1.98,3.42,72.00,0.686,4,0.082,0.114,2988,3606,2436
$GC,1132,1.29,85.9,75.6,14.2,117,1140,0.22,2.80,0.00,0.000,6,0.163,0.036,2958,2200,2436
$GC,1458,1.20,85.9,36.6,11.5,148,1460,0.15,0.00,0.00,0.000,6,0.173,0.000,2939,2200,2436
$GC,1650,1.14,85.9,17.1,9.3,169,1655,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2200,2436
$GC,1722,1.09,88.6,11.7,7.5,182,1734,0.17,3.05,1.95,0.787,4,0.170,0.077,2916,3607,2425
$GC,2059,1.29,223.2,8.1,-3.3,242,2177,0.22,2.70,107.65,0.657,6,0.075,0.035,2957,2194,1877
$GC,2244,1.44,288.2,2.3,2.4,277,2255,0.17,0.00,9.05,0.646,2,0.071,0.000,2989,2194,1811
$STATE,2256,end climb,SURFACE_DEPTH_REACHED
$STATE,2256,begin surface coast
$FINISH,0.9,1.019367
$STATE,2339,end surface coast,CONTROL_FINISHED_OK
$STATE,2339,begin surface
$SM_CCo,2357,73.60,0.617,0,0,1360,350.04
$SM_GC,2.17,0.00,0.00,73.60,0.000,0.000,0.617,680,1991,1360,-9.17,-0.25,350.04
$RAFOS_CLK,100
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4751.72,-12223.57,290807,151525
$TT8_MAMPS,0.023777
$HUMID,2047
$INTERNAL_PRESSURE,10.6059
$TCM_TEMP,13.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,19.2
$24V_AH,20.9,2.106
$10V_AH,10.9,0.500
$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,34.750,18.400,261.600,73.600,0.000,40.047,45.681,71.512,0.250,39.981,466.093,1291.335,407.745,340.647,198.704,33.316,676.933,0.000,308.770,0.000,2.558
$DEVICE_MAMPS,299.130,113.516,786.942,617.435,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,20.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,205.040,207.412,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9604,294
$CFSIZE,260165632,256913408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1491.2
$GPS,290807,130535,4805.842,-12222.019,9,2.1,28,18.3