version: 66.01
glider: 112
mission: 1
dive: 17
start: 7 11 107 11 44 32
data:
$ID,112
$MISSION,1
$DIVE,17
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$D_NO_BLEED,200
$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,50
$T_MISSION,75
$T_ABORT,1440
$T_TURN,225
$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,135
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51440
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0038775599
$HD_B,0.0138418
$HD_C,4.7289599e-05
$HEADING,-1
$ESCAPE_HEADING,145
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,1
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,4
$FILEMGR,2
$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,-18285.809
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,0.2
$RAFOS_CORR_THRESH,80
$RAFOS_HIT_WINDOW,5400
$PITCH_MIN,679
$PITCH_MAX,3252
$C_PITCH,2269
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,100
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,166
$ROLL_MAX,3791
$C_ROLL_DIVE,2060
$C_ROLL_CLIMB,1870
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,11
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,486
$VBD_MAX,3897
$C_VBD,3335
$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,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,80
$PRESSURE_YINT,-3.7066903
$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,400
$ALTIM_PING_DELTA,50
$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,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043805656
$SEABIRD_T_H,0.00064742006
$SEABIRD_T_I,2.5554549e-05
$SEABIRD_T_J,2.6681391e-06
$SEABIRD_C_G,-10.331019
$SEABIRD_C_H,1.1763502
$SEABIRD_C_I,-0.0012340198
$SEABIRD_C_J,0.00017379176
$GPS1,113909,4807.903,-12223.947,11,1.6,11,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-50.3
$GPS2,114333,4807.878,-12223.958,12,1.3,12,18.3
$SPEED_LIMITS,0.173,0.206
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.037,0.169
$KALMAN_X,313.0,59.0,31.2,-2098.4,16.0
$KALMAN_Y,-1643.4,-215.0,-55.0,4113.1,-85.2
$MHEAD_RNG_PITCHd_Wd,329.3,231,-26.9,-10.000
$D_GRID,105
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-1.27,-91.9,0.0,0.0,0,85,0.00,0.00,-54.65,0.000,2,0.000,0.000,682,2085,2828
$GC,89,-1.27,-132.0,3.2,-5.3,11,145,11.20,2.88,-35.12,0.000,4,0.249,0.067,1986,3456,3875
$GC,302,-1.34,-132.0,27.6,-15.4,46,306,0.00,2.75,0.00,0.000,6,0.000,0.036,1986,2038,3877
$GC,371,-1.34,-132.0,37.5,-14.0,52,373,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,2038,3877
$GC,435,-1.34,-132.0,47.0,-15.1,58,440,0.00,2.92,0.00,0.000,4,0.000,0.066,1986,3452,3877
$GC,485,-1.34,-132.0,54.6,-15.0,62,490,0.00,2.70,0.00,0.000,6,0.000,0.038,1986,2060,3877
$GC,619,-1.34,-132.0,74.0,-14.2,74,623,0.00,2.90,0.00,0.000,4,0.000,0.071,1986,3449,3878
$GC,685,-1.34,-132.0,84.0,-14.8,79,690,0.00,2.70,0.00,0.000,6,0.000,0.039,1986,2057,3877
$GC,818,-1.34,-132.0,103.3,-14.5,92,823,0.00,2.92,0.00,0.000,4,0.000,0.074,1987,3450,3878
$STATE,832,end dive,TARGET_DEPTH_EXCEEDED
$STATE,832,begin apogee
$GC,842,-0.21,0.0,105.7,14.3,93,961,1.42,0.00,113.20,0.693,6,0.151,0.000,2218,1872,3334
$STATE,961,end apogee,CONTROL_FINISHED_OK
$STATE,962,begin climb
$GC,965,1.34,132.0,110.4,0.0,105,1087,1.80,3.22,112.12,0.678,4,0.071,0.095,2560,467,2797
$GC,1137,1.34,132.0,93.9,16.7,121,1143,0.00,2.85,0.00,0.000,6,0.000,0.047,2560,1858,2796
$GC,1271,1.34,132.0,73.2,15.4,134,1276,0.00,3.22,0.00,0.000,4,0.000,0.096,2560,3285,2795
$GC,1382,1.34,132.0,55.7,14.9,143,1388,0.00,2.88,0.00,0.000,6,0.000,0.050,2560,1875,2795
$GC,1516,1.34,132.0,36.9,13.3,156,1517,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1875,2795
$GC,1580,1.34,132.0,27.9,14.4,162,1584,0.00,2.95,0.00,0.000,4,0.000,0.067,2560,3285,2795
$GC,1764,1.34,134.4,5.0,9.8,189,1769,0.00,2.85,0.00,0.000,6,0.000,0.048,2560,1861,2794
$GC,1838,1.34,290.8,3.2,-1.6,202,1924,0.00,0.00,83.65,0.639,2,0.000,0.000,2561,1860,2212
$STATE,1925,end climb,SURFACE_DEPTH_REACHED
$STATE,1925,begin surface coast
$FINISH,1.1,1.018707
$STATE,2004,end surface coast,CONTROL_FINISHED_OK
$STATE,2005,begin surface
$SM_CCo,2026,128.80,0.598,0,0,1295,500.17
$SM_GC,1.85,0.00,0.00,128.80,0.000,0.000,0.598,677,2089,1295,-7.32,0.82,500.17
$RAFOS_CLK,87
$RAFOS,0,1184155444,12.083333,12.067778,60,58,55,54,51,50,200,134,120,221,178,212
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4751.72,-12220.85,110707,141401
$TT8_MAMPS,0.026078
$HUMID,1974
$INTERNAL_PRESSURE,10.391
$TCM_TEMP,10.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,18.7
$24V_AH,20.8,15.290
$10V_AH,10.0,6.131
$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,24.100,41.350,308.975,128.800,0.000,37.378,32.805,95.855,0.500,13.779,391.900,956.544,537.871,266.446,287.012,33.319,785.563,0.000,258.342,720.000,2.558
$DEVICE_MAMPS,248.508,95.875,692.601,598.260,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,20.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,164.512,159.399,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6463,233
$CFSIZE,260165632,256339968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1485.8
$GPS,110707,122121,4808.018,-12223.991,8,1.9,8,18.3