version: 66.01
glider: 112
mission: 2
dive: 17
start: 8 16 107 12 41 11
data:
$ID,112
$MISSION,2
$DIVE,17
$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,-23511.424
$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,16
$R_STBD_OVSHOOT,9
$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
$GPS1,123529,4806.505,-12222.313,9,2.2,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-50.3
$GPS2,124017,4806.492,-12222.289,10,2.1,29,18.3
$SPEED_LIMITS,0.173,0.206
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.041,-0.202
$KALMAN_X,1123.6,95.1,-12.9,709.5,77.3
$KALMAN_Y,-187.7,-10.0,19.9,-3160.7,12.9
$MHEAD_RNG_PITCHd_Wd,150.1,979,-23.1,-10.000
$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,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,-44.50,0.000,2,0.000,0.000,682,2140,2115
$GC,76,-1.23,-132.0,3.1,-3.3,9,133,12.70,3.03,-36.05,0.000,4,0.265,0.078,2058,3572,3203
$GC,268,-1.10,-132.0,22.4,-11.1,43,274,0.22,2.72,0.00,0.000,6,0.175,0.031,2087,2146,3204
$GC,466,-1.05,-132.0,42.4,-10.4,61,471,0.00,3.03,0.00,0.000,4,0.000,0.076,2087,3574,3206
$GC,505,-0.98,-132.0,46.7,-11.4,64,511,0.20,2.67,0.00,0.000,6,0.167,0.031,2114,2174,3206
$GC,703,-0.98,-132.0,64.9,-8.7,82,708,0.00,2.95,0.00,0.000,4,0.000,0.074,2114,3574,3207
$GC,720,-0.98,-132.0,66.5,-9.3,83,724,0.00,2.67,0.00,0.000,6,0.000,0.032,2114,2177,3207
$GC,1047,-0.98,-132.0,96.4,-9.0,113,1052,0.00,2.95,0.00,0.000,4,0.000,0.075,2114,3574,3207
$GC,1109,-0.98,-132.0,102.3,-9.3,118,1114,0.00,2.65,0.00,0.000,6,0.000,0.034,2114,2192,3207
$STATE,1176,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1176,begin apogee
$GC,1183,-0.22,0.0,108.3,8.5,124,1299,1.00,0.00,110.62,0.709,6,0.136,0.000,2278,2442,2664
$STATE,1300,end apogee,CONTROL_FINISHED_OK
$STATE,1300,begin climb
$GC,1303,1.23,132.0,110.6,0.0,136,1423,1.70,3.15,110.55,0.693,4,0.080,0.091,2597,3800,2125
$GC,1445,1.11,132.0,95.5,16.7,150,1449,0.00,2.80,0.00,0.000,6,0.000,0.038,2597,2420,2124
$GC,1772,1.01,132.0,46.1,14.8,180,1777,0.22,3.03,0.00,0.000,4,0.126,0.081,2560,3810,2124
$GC,1823,0.95,132.0,38.7,13.2,184,1828,0.00,2.75,0.00,0.000,6,0.000,0.037,2560,2409,2124
$GC,2025,0.92,132.0,15.4,11.7,205,2030,0.15,0.00,0.00,0.000,6,0.122,0.000,2535,2409,2123
$GC,2099,0.98,134.9,7.1,9.9,218,2104,0.00,2.97,0.00,0.000,4,0.000,0.077,2535,3803,2122
$GC,2134,1.24,251.1,5.3,4.1,224,2221,0.35,2.65,77.43,0.657,6,0.043,0.033,2609,2423,1639
$STATE,2224,end climb,SURFACE_DEPTH_REACHED
$STATE,2224,begin surface coast
$FINISH,1.7,1.016022
$STATE,2258,end surface coast,CONTROL_FINISHED_OK
$STATE,2258,begin surface
$SM_CCo,2280,89.45,0.609,0,0,931,425.10
$SM_GC,2.41,0.00,0.00,89.45,0.000,0.000,0.609,683,2147,931,-7.59,-0.25,425.10
$RAFOS_CLK,94
$RAFOS,5,1187268847,12.916667,12.901944,46,42,38,0,0,0,228,555,919,0,0,0
$RAFOS,4,1187268241,12.750000,12.733611,47,45,43,0,0,0,212,32,231,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4751.72,-12216.40,160807,151529
$TT8_MAMPS,0.024544
$HUMID,2101
$INTERNAL_PRESSURE,11.3188
$TCM_TEMP,11.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,17.7
$24V_AH,20.9,26.571
$10V_AH,10.0,9.341
$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,26.350,41.100,298.600,89.450,0.000,37.473,44.957,82.057,0.250,31.415,421.142,1202.149,485.002,277.561,286.654,33.339,733.108,0.000,260.140,720.000,2.555
$DEVICE_MAMPS,264.615,91.273,708.708,608.998,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,20.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,174.630,174.342,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9588,248
$CFSIZE,260165632,255025152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1488.4
$GPS,160807,132153,4806.273,-12222.171,8,2.2,27,18.3