version: 66.02
glider: 116
mission: 6
dive: 2
start: 9 26 107 18 25 0
data:
$ID,116
$MISSION,6
$DIVE,2
$D_SURF,2
$D_FLARE,2
$D_TGT,100
$D_ABORT,1050
$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,30
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51361
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.650002
$TGT_DEFAULT_LON,-122.8667
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$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,-28767.516
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,132
$PITCH_MAX,3449
$C_PITCH,2895
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,155
$ROLL_MAX,3900
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,640
$VBD_MAX,3893
$C_VBD,3281
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,10
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,0
$PRESSURE_SLOPE,0.0001158926
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,90
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,2
$SMARTDEVICE1,5
$SMARTDEVICE2,19
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043755369
$SEABIRD_T_H,0.00063954171
$SEABIRD_T_I,2.7100008e-05
$SEABIRD_T_J,3.135212e-06
$SEABIRD_C_G,-9.8677502
$SEABIRD_C_H,1.1239791
$SEABIRD_C_I,-0.0015851235
$SEABIRD_C_J,0.00021129416
$GPS1,181408,4739.617,-12252.867,7,1.1,12,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-65.5
$GPS2,182356,4739.625,-12252.919,14,1.1,31,18.3
$SPEED_LIMITS,0.192,0.222
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.197,-0.102
$KALMAN_X,-20.9,-20.9,-20.9,161.3,-43.3
$KALMAN_Y,21.2,21.2,21.2,-45.7,43.9
$MHEAD_RNG_PITCHd_Wd,99.1,708,-23.7,-11.111
$D_GRID,121
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-2.10,-97.8,0.0,0.0,0,110,0.00,0.00,-78.57,0.000,2,0.000,0.000,135,2209,3033
$GC,114,-2.10,-97.8,2.1,-4.9,13,158,14.40,2.58,-21.33,0.000,4,0.201,0.074,2435,3607,3680
$GC,231,-2.10,-97.8,10.9,-11.1,31,237,0.00,2.47,0.00,0.000,6,0.000,0.040,2435,2200,3681
$GC,304,-2.10,-97.8,16.8,-7.8,42,310,0.00,2.58,0.00,0.000,4,0.000,0.062,2435,791,3681
$GC,449,-2.10,-97.8,28.9,-8.9,56,453,0.00,2.50,0.00,0.000,6,0.000,0.040,2434,2210,3682
$GC,645,-2.10,-97.8,45.6,-8.8,71,649,0.00,2.60,0.00,0.000,4,0.000,0.061,2435,794,3682
$GC,723,-2.10,-97.8,52.6,-9.1,76,730,0.00,2.50,0.00,0.000,6,0.000,0.041,2435,2210,3682
$GC,919,-2.10,-97.8,70.4,-9.6,92,924,0.00,2.60,0.00,0.000,4,0.000,0.063,2435,796,3682
$GC,1156,-2.10,-97.8,94.2,-10.2,109,1163,0.00,2.50,0.00,0.000,6,0.000,0.042,2435,2210,3682
$STATE,1225,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1225,begin apogee
$GC,1231,-0.42,0.0,100.8,9.5,115,1349,1.85,0.00,112.85,0.659,6,0.112,0.000,2799,2401,3281
$STATE,1350,end apogee,CONTROL_FINISHED_OK
$STATE,1350,begin climb
$GC,1354,2.10,97.8,103.7,0.0,125,1477,2.47,2.70,112.50,0.637,4,0.053,0.075,3355,3804,2881
$GC,1652,2.10,97.8,69.1,14.5,148,1656,0.00,2.50,0.00,0.000,6,0.000,0.041,3355,2394,2881
$GC,1847,2.10,97.8,41.4,14.1,163,1851,0.00,2.65,0.00,0.000,4,0.000,0.070,3355,3803,2881
$GC,1987,2.10,97.8,21.4,14.8,173,1991,0.00,2.47,0.00,0.000,6,0.000,0.041,3355,2402,2881
$STATE,2162,end climb,SURFACE_DEPTH_REACHED
$STATE,2162,begin surface coast
$FINISH,1.1,1.020200
$STATE,2198,end surface coast,CONTROL_FINISHED_OK
$STATE,2198,begin surface
$SM_CCo,2228,132.45,0.581,0,0,1650,400.08
$SM_GC,0.99,0.00,0.00,132.45,0.000,0.000,0.581,132,2191,1650,-12.71,-0.25,400.08
$IRIDIUM_FIX,4722.92,-12251.79,260907,222243
$TT8_MAMPS,0.066729
$HUMID,2153
$INTERNAL_PRESSURE,11.5043
$TCM_TEMP,19.80
$XPDR_PINGS,71
$24V_AH,23.9,16.184
$10V_AH,10.1,9.157
$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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,34.100,31.375,225.350,132.450,0.000,0.000,0.000,0.000,18.250,0.000,2399.000,31.538,384.371,1084.004,461.388,426.533,108.722,30.182,714.299,0.000,406.697,0.000,4.056
$DEVICE_MAMPS,200.954,75.166,658.853,581.386,0.000,103.000,160.000,223.000,420.000,0.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,133.199,0.000,0.000,0.000,0.000,0.000,0.000,2399.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6450,203
$CFSIZE,260034560,256954368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,190514,4739.554,-12252.662,12,1.9,17,18.3