version: 66.01
glider: 112
mission: 2
dive: 52
start: 8 17 107 16 51 59
data:
$ID,112
$MISSION,2
$DIVE,52
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51558
$NAV_MODE,1
$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,-24278.871
$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,75
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,0.5
$ROLL_MIN,168
$ROLL_MAX,3823
$C_ROLL_DIVE,2156
$C_ROLL_CLIMB,2417
$HEAD_ERRBAND,9
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,13
$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
$GPS1,164611,4807.895,-12223.723,7,2.7,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-50.3
$GPS2,165103,4807.955,-12223.773,13,1.7,13,18.3
$SPEED_LIMITS,0.173,0.217
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.106,-0.190
$KALMAN_X,1103.5,-34.4,-156.6,-830.9,-56.2
$KALMAN_Y,1932.5,-24.8,49.1,-2590.9,93.2
$MHEAD_RNG_PITCHd_Wd,132.6,2010,-21.9,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.20,-146.6,0.0,0.0,0,61,0.00,0.00,-34.03,0.000,2,0.000,0.000,680,2143,2151
$GC,65,-1.20,-146.6,3.3,-3.2,7,122,13.80,3.03,-35.80,0.000,4,0.281,0.081,2067,3567,3263
$GC,152,-0.93,-146.6,8.7,-7.8,23,158,0.43,2.72,0.00,0.000,6,0.177,0.031,2125,2149,3264
$GC,227,-0.91,-146.6,14.6,-8.8,36,233,0.00,2.90,0.00,0.000,4,0.000,0.077,2125,761,3265
$GC,357,-0.87,-146.6,26.7,-9.7,53,362,0.00,2.62,0.00,0.000,6,0.000,0.035,2125,2127,3266
$GC,554,-0.87,-146.6,44.2,-9.3,72,559,0.00,3.10,0.00,0.000,4,0.000,0.091,2126,3561,3267
$GC,643,-0.87,-146.6,52.7,-9.6,79,649,0.00,2.72,0.00,0.000,6,0.000,0.033,2125,2133,3267
$GC,971,-0.89,-146.6,82.6,-8.9,110,975,0.00,3.03,0.00,0.000,4,0.000,0.078,2126,3556,3267
$GC,999,-0.89,-146.6,85.4,-9.4,112,1004,0.00,2.72,0.00,0.000,6,0.000,0.035,2125,2135,3267
$STATE,1225,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1225,begin apogee
$GC,1233,-0.22,0.0,105.2,8.5,133,1361,0.95,0.00,123.95,0.703,6,0.143,0.000,2287,2424,2664
$STATE,1362,end apogee,CONTROL_FINISHED_OK
$STATE,1362,begin climb
$GC,1365,1.20,146.6,107.8,0.0,146,1498,1.67,3.17,123.12,0.684,4,0.086,0.094,2594,3805,2065
$GC,1548,0.99,146.6,85.5,16.4,163,1554,0.28,2.80,0.00,0.000,6,0.129,0.038,2554,2420,2064
$GC,1873,0.95,146.6,44.5,12.1,194,1874,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2420,2064
$GC,2064,0.92,146.6,21.7,11.8,212,2068,0.00,3.00,0.00,0.000,4,0.000,0.081,2554,3809,2063
$GC,2120,0.85,146.6,14.9,11.8,220,2126,0.22,2.70,0.00,0.000,6,0.121,0.037,2519,2427,2063
$GC,2195,0.94,168.7,7.7,9.0,233,2221,0.00,3.08,17.17,0.677,4,0.000,0.084,2519,1015,1975
$STATE,2331,end climb,SURFACE_DEPTH_REACHED
$STATE,2331,begin surface coast
$FINISH,1.7,1.019139
$STATE,2461,end surface coast,CONTROL_FINISHED_OK
$STATE,2462,begin surface
$SM_CCo,2484,103.43,0.624,0,0,1237,350.04
$SM_GC,2.51,0.00,0.00,103.43,0.000,0.000,0.624,677,2155,1237,-7.62,-0.03,350.04
$RAFOS_CLK,105
$RAFOS,5,1187369645,16.916666,16.901388,48,41,40,0,0,0,32,1053,1150,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12226.29,170807,191924
$TT8_MAMPS,0.023777
$HUMID,2064
$INTERNAL_PRESSURE,11.3481
$TCM_TEMP,11.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,17.9
$24V_AH,20.5,29.465
$10V_AH,10.0,10.099
$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,26.575,40.475,264.250,103.425,0.000,41.084,47.036,99.665,0.250,15.128,470.835,1363.482,463.335,293.359,304.499,33.334,722.151,0.000,284.219,360.000,2.556
$DEVICE_MAMPS,281.489,94.341,702.572,623.571,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,20.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,195.589,198.983,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9613,281
$CFSIZE,260165632,254218240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1487.7
$GPS,170807,173631,4807.853,-12223.634,34,1.0,40,18.3