version: 66.01
glider: 112
mission: 3
dive: 22
start: 8 29 107 13 10 28
data:
$ID,112
$MISSION,3
$DIVE,22
$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,-27135.363
$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,17
$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
$GPS1,130535,4805.842,-12222.019,9,2.1,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-48.1
$GPS2,130933,4805.825,-12221.995,10,1.2,10,18.3
$SPEED_LIMITS,0.133,0.201
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.112,0.073
$KALMAN_X,-630.5,221.9,-82.3,3193.7,218.7
$KALMAN_Y,2871.5,73.4,412.2,-7185.5,172.9
$MHEAD_RNG_PITCHd_Wd,340.6,324,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-1.40,-63.1,0.0,0.0,0,50,0.00,0.00,-30.95,0.000,2,0.000,0.000,681,1991,2288
$GC,52,-1.43,-80.0,3.4,-6.3,6,99,17.70,2.85,-20.33,0.000,4,0.298,0.067,2357,594,3116
$GC,220,-1.35,-80.0,25.9,-15.4,33,228,0.15,2.75,0.00,0.000,6,0.193,0.035,2375,2025,3116
$GC,418,-1.32,-80.0,53.8,-14.3,52,423,0.00,2.90,0.00,0.000,4,0.000,0.062,2375,597,3117
$GC,467,-1.29,-80.0,61.2,-15.4,56,472,0.00,2.67,0.00,0.000,6,0.000,0.037,2375,1989,3117
$STATE,790,end dive,TARGET_DEPTH_EXCEEDED
$STATE,790,begin apogee
$GC,794,-0.24,0.0,108.5,14.2,86,864,1.58,0.00,66.30,0.697,6,0.164,0.000,2617,2197,2787
$STATE,865,end apogee,CONTROL_FINISHED_OK
$STATE,865,begin climb
$GC,867,1.43,80.0,111.6,0.0,93,943,1.98,3.42,66.85,0.691,4,0.084,0.115,2987,3607,2460
$GC,1115,1.28,80.0,84.3,13.1,115,1123,0.17,2.83,0.00,0.000,6,0.171,0.037,2956,2198,2460
$GC,1441,1.19,80.0,48.4,9.8,146,1443,0.15,0.00,0.00,0.000,6,0.182,0.000,2938,2198,2459
$GC,1631,1.12,80.0,31.7,7.9,164,1632,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2198,2459
$GC,1825,1.06,80.0,15.0,8.8,187,1832,0.22,2.97,0.00,0.000,4,0.183,0.079,2907,3613,2459
$GC,1893,1.02,80.0,9.4,7.8,199,1899,0.00,2.70,0.00,0.000,6,0.000,0.035,2908,2201,2458
$GC,1966,1.11,124.8,5.5,4.0,212,2008,0.00,3.00,35.17,0.675,4,0.000,0.075,2908,3604,2277
$GC,2333,1.26,201.4,5.1,1.5,278,2400,0.22,2.55,61.08,0.654,6,0.066,0.033,2950,2277,1965
$GC,2468,1.41,260.3,2.3,2.9,303,2480,0.15,0.00,8.93,0.653,2,0.074,0.000,2981,2278,1895
$STATE,2480,end climb,SURFACE_DEPTH_REACHED
$STATE,2480,begin surface coast
$FINISH,0.9,1.012989
$STATE,2563,end surface coast,CONTROL_FINISHED_OK
$STATE,2563,begin surface
$SM_CCo,2582,84.12,0.617,0,0,1360,350.04
$SM_GC,2.15,0.00,0.00,84.12,0.000,0.000,0.617,678,1991,1360,-9.19,-0.25,350.04
$RAFOS_CLK,105
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12220.12,290807,161611
$TT8_MAMPS,0.023777
$HUMID,2066
$INTERNAL_PRESSURE,10.6254
$TCM_TEMP,13.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.9
$24V_AH,20.9,2.176
$10V_AH,10.9,0.521
$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,34.325,29.650,238.325,84.125,0.000,35.613,52.249,81.270,0.250,11.553,518.888,1471.834,399.381,319.104,215.844,33.314,677.228,0.000,316.284,0.000,2.559
$DEVICE_MAMPS,297.596,115.050,697.203,617.435,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,20.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,220.946,227.354,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9624,320
$CFSIZE,260165632,256884736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1491.7
$GPS,290807,135545,4805.906,-12222.033,12,1.8,12,18.3