version: 66.01
glider: 112
mission: 2
dive: 16
start: 8 16 107 11 55 10
data:
$ID,112
$MISSION,2
$DIVE,16
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,250
$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,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,51558
$NAV_MODE,1
$FERRY_MAX,30
$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,425
$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,-23479.381
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,0.2
$RAFOS_CORR_THRESH,80
$RAFOS_HIT_WINDOW,5400
$PITCH_MIN,679
$PITCH_MAX,3252
$C_PITCH,2334
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22.9
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,85
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,168
$ROLL_MAX,3823
$C_ROLL_DIVE,2156
$C_ROLL_CLIMB,2417
$HEAD_ERRBAND,3
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,10
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,486
$VBD_MAX,3897
$C_VBD,2664
$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,-2.7642801
$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
$GPS1,114935,4806.721,-12222.553,8,3.9,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-50.3
$GPS2,115416,4806.704,-12222.529,11,2.5,30,18.3
$SPEED_LIMITS,0.173,0.206
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.075,-0.192
$KALMAN_X,1004.6,108.1,-37.3,541.7,59.3
$KALMAN_Y,-215.0,-15.6,38.2,-2753.1,-23.0
$MHEAD_RNG_PITCHd_Wd,140.5,1459,-23.1,-10.000
$D_GRID,107
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-1.23,-132.0,0.0,0.0,0,73,0.00,0.00,-44.55,0.000,2,0.000,0.000,683,2129,2119
$GC,76,-1.23,-132.0,3.2,-3.0,9,134,12.73,2.78,-37.45,0.000,4,0.265,0.065,2059,761,3202
$GC,297,-1.10,-132.0,24.3,-11.7,46,302,0.22,2.70,0.00,0.000,6,0.158,0.033,2089,2169,3204
$GC,496,-1.05,-132.0,44.1,-10.3,64,501,0.00,2.97,0.00,0.000,4,0.000,0.087,2090,3559,3205
$GC,569,-1.00,-132.0,52.0,-10.9,70,574,0.15,2.60,0.00,0.000,6,0.153,0.031,2109,2189,3206
$GC,894,-1.00,-132.0,81.8,-9.3,100,895,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2188,3206
$STATE,1177,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1177,begin apogee
$GC,1185,-0.22,0.0,107.5,8.3,127,1301,1.00,0.00,110.53,0.707,6,0.140,0.000,2281,2429,2664
$STATE,1302,end apogee,CONTROL_FINISHED_OK
$STATE,1302,begin climb
$GC,1305,1.23,132.0,109.8,0.0,139,1427,1.70,3.20,110.12,0.687,4,0.080,0.078,2600,1017,2125
$GC,1435,1.18,132.0,96.5,15.1,151,1441,0.00,2.88,0.00,0.000,6,0.000,0.049,2600,2409,2125
$GC,1761,1.07,132.0,46.6,14.9,182,1767,0.17,3.20,0.00,0.000,4,0.128,0.105,2572,3817,2124
$GC,1847,0.98,132.0,34.1,13.9,189,1852,0.15,2.72,0.00,0.000,6,0.129,0.036,2550,2419,2124
$GC,2047,0.98,132.0,11.4,10.3,214,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2418,2123
$GC,2120,1.13,202.2,4.8,6.4,227,2172,0.15,3.05,43.83,0.660,4,0.053,0.077,2586,3824,1838
$STATE,2192,end climb,SURFACE_DEPTH_REACHED
$STATE,2193,begin surface coast
$FINISH,1.7,1.019444
$STATE,2200,end surface coast,CONTROL_FINISHED_OK
$STATE,2200,begin surface
$SM_CCo,2224,120.18,0.614,0,0,930,425.10
$SM_GC,2.52,0.00,0.00,120.18,0.000,0.000,0.614,681,2139,930,-7.60,-0.48,425.10
$RAFOS_CLK,95
$RAFOS,2,1187267045,12.416667,12.401389,41,40,38,0,0,0,114,1058,1157,0,0,0
$RAFOS,1,1187266445,12.250000,12.234722,42,41,40,0,0,0,1012,645,32,0,0,0
$RAFOS,0,1187265842,12.083333,12.067223,48,44,41,0,0,0,235,164,1075,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12221.84,160807,151514
$TT8_MAMPS,0.024544
$HUMID,2061
$INTERNAL_PRESSURE,11.309
$TCM_TEMP,10.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.4
$24V_AH,20.9,26.489
$10V_AH,10.0,9.320
$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,25.900,29.975,264.475,120.175,0.000,40.351,44.043,77.562,0.250,32.849,409.685,1207.333,477.115,275.751,271.510,33.332,708.713,0.000,251.185,1080.000,2.557
$DEVICE_MAMPS,265.382,105.079,707.174,613.600,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,20.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,168.330,171.875,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9599,242
$CFSIZE,260165632,255049728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$SOUNDSPEED,1488.3
$GPS,160807,123529,4806.505,-12222.313,9,2.2,28,18.3