version: 66.01
glider: 112
mission: 3
dive: 23
start: 8 29 107 14 1 27
data:
$ID,112
$MISSION,3
$DIVE,23
$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,-27152.166
$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
$GPS1,135545,4805.906,-12222.033,12,1.8,12,18.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-48.1
$GPS2,140032,4805.884,-12222.019,9,1.8,14,18.3
$SPEED_LIMITS,0.133,0.201
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.118,0.163
$KALMAN_X,-449.2,283.9,-42.4,2880.7,205.4
$KALMAN_Y,2664.3,133.5,466.7,-6983.3,-50.7
$MHEAD_RNG_PITCHd_Wd,324.5,4102,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-1.07,-146.6,0.0,0.0,0,51,0.00,0.00,-31.05,0.000,2,0.000,0.000,679,1991,2294
$GC,52,-1.07,-146.6,3.4,-6.4,6,104,18.27,2.90,-26.25,0.000,4,0.293,0.078,2434,595,3387
$GC,238,-0.99,-146.6,27.9,-13.7,35,244,0.15,2.72,0.00,0.000,6,0.147,0.036,2455,2008,3388
$GC,435,-0.95,-146.6,52.6,-12.4,53,439,0.00,2.90,0.00,0.000,4,0.000,0.065,2454,590,3388
$GC,467,-0.91,-146.6,56.9,-12.8,55,474,0.12,2.72,0.00,0.000,6,0.143,0.038,2473,2001,3388
$GC,792,-0.91,-146.6,94.0,-10.7,86,796,0.00,2.85,0.00,0.000,4,0.000,0.063,2473,592,3388
$GC,833,-0.91,-146.6,98.6,-10.6,89,841,0.00,2.78,0.00,0.000,6,0.000,0.041,2473,2003,3388
$STATE,923,end dive,TARGET_DEPTH_EXCEEDED
$STATE,924,begin apogee
$GC,927,-0.24,0.0,108.0,10.6,98,1057,0.90,0.00,121.82,0.691,6,0.132,0.000,2620,2203,2787
$STATE,1058,end apogee,CONTROL_FINISHED_OK
$STATE,1058,begin climb
$GC,1059,1.07,146.6,111.6,0.0,111,1192,1.60,3.42,123.20,0.668,4,0.084,0.113,2906,3606,2189
$GC,1230,0.91,146.6,96.8,14.1,127,1238,0.22,2.85,0.00,0.000,6,0.147,0.037,2875,2196,2189
$GC,1555,0.84,146.6,61.6,10.1,158,1559,0.00,3.03,0.00,0.000,4,0.000,0.087,2874,790,2188
$GC,1598,0.76,146.6,57.0,10.2,161,1605,0.22,2.80,0.00,0.000,6,0.128,0.045,2840,2198,2188
$GC,1923,0.80,169.9,33.4,6.9,192,1947,0.00,2.95,17.95,0.689,4,0.000,0.061,2840,794,2094
$GC,1998,0.80,169.9,27.7,8.0,199,2003,0.00,2.80,0.00,0.000,6,0.000,0.048,2839,2192,2094
$GC,2200,0.80,172.4,13.0,7.6,225,2205,0.00,0.00,1.80,0.774,6,0.000,0.000,2840,2193,2084
$GC,2272,0.86,207.1,7.9,6.5,238,2308,0.00,3.35,27.58,0.669,4,0.000,0.117,2840,3605,1942
$GC,2410,1.25,377.2,3.6,1.7,263,2472,0.52,2.80,55.45,0.642,2,0.035,0.036,2957,2169,1603
$STATE,2473,end climb,SURFACE_DEPTH_REACHED
$STATE,2473,begin surface coast
$FINISH,0.9,1.001666
$STATE,2545,end surface coast,CONTROL_FINISHED_OK
$STATE,2545,begin surface
$SM_CCo,2563,38.62,0.631,0,0,1360,350.04
$SM_GC,2.11,0.00,0.00,38.62,0.000,0.000,0.631,678,1991,1360,-9.19,-0.25,350.04
$RAFOS_CLK,110
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4745.30,-12224.57,290807,171703
$TT8_MAMPS,0.023777
$HUMID,2071
$INTERNAL_PRESSURE,10.5863
$TCM_TEMP,12.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.5
$24V_AH,20.8,2.262
$10V_AH,10.9,0.542
$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,33.775,41.650,347.800,38.625,0.000,38.628,44.758,125.104,0.250,16.173,461.302,1409.172,469.642,306.546,259.202,33.316,747.852,0.000,301.157,0.000,2.557
$DEVICE_MAMPS,292.994,116.584,773.903,631.241,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,20.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,200.914,204.823,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9609,288
$CFSIZE,260165632,256856064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1488.8
$GPS,290807,144559,4806.097,-12222.164,12,5.0,31,18.3