version: 66.02
glider: 116
mission: 6
dive: 4
start: 9 26 107 20 21 29
data:
$ID,116
$MISSION,6
$DIVE,4
$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,-28864.68
$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,26
$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
$GPS1,200927,4739.478,-12252.515,12,2.0,12,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-67.0
$GPS2,202021,4739.468,-12252.554,15,2.0,15,18.3
$SPEED_LIMITS,0.192,0.222
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.222,-0.010
$KALMAN_X,-134.6,-90.9,-73.5,853.5,-28.6
$KALMAN_Y,55.7,40.5,37.6,-402.6,15.7
$MHEAD_RNG_PITCHd_Wd,249.2,809,-23.7,-11.111
$D_GRID,124
$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,-97.8,0.0,0.0,0,86,0.00,0.00,-54.55,0.000,2,0.000,0.000,133,2198,2870
$GC,90,-2.10,-97.8,2.1,-4.1,9,146,14.55,2.62,-33.85,0.000,4,0.204,0.077,2432,3608,3679
$GC,186,-2.10,-97.8,6.4,-10.5,24,192,0.00,2.50,0.00,0.000,6,0.000,0.040,2432,2192,3679
$GC,259,-2.10,-97.8,13.9,-9.3,35,264,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2195,3680
$GC,331,-2.10,-97.8,20.3,-7.7,46,335,0.00,2.62,0.00,0.000,4,0.000,0.067,2432,3610,3680
$GC,344,-2.10,-97.8,21.2,-7.2,47,348,0.00,2.50,0.00,0.000,6,0.000,0.041,2433,2195,3681
$GC,540,-2.10,-97.8,38.1,-9.2,62,544,0.00,2.58,0.00,0.000,4,0.000,0.064,2432,794,3681
$GC,796,-2.10,-97.8,63.9,-10.6,81,803,0.00,2.50,0.00,0.000,6,0.000,0.043,2432,2206,3681
$GC,993,-2.10,-97.8,84.4,-10.5,97,997,0.00,2.60,0.00,0.000,4,0.000,0.063,2432,793,3681
$STATE,1142,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1142,begin apogee
$GC,1151,-0.42,0.0,100.7,10.8,108,1270,1.85,0.00,113.22,0.654,6,0.115,0.000,2801,2397,3281
$STATE,1271,end apogee,CONTROL_FINISHED_OK
$STATE,1271,begin climb
$GC,1275,2.10,97.8,103.3,0.0,118,1399,2.47,2.75,112.47,0.630,4,0.054,0.080,3356,3810,2882
$GC,1651,2.10,97.8,57.4,14.4,147,1655,0.00,2.50,0.00,0.000,6,0.000,0.041,3356,2393,2882
$GC,1853,2.10,97.8,29.7,13.6,163,1858,0.00,2.67,0.00,0.000,4,0.000,0.073,3356,3805,2882
$GC,1891,2.10,97.8,24.4,13.6,165,1898,0.00,2.53,0.00,0.000,6,0.000,0.041,3355,2398,2881
$GC,2095,2.18,162.9,2.3,6.1,193,2102,0.00,0.00,5.12,0.685,2,0.000,0.000,3355,2398,2852
$STATE,2103,end climb,SURFACE_DEPTH_REACHED
$STATE,2104,begin surface coast
$FINISH,0.9,1.020346
$STATE,2135,end surface coast,CONTROL_FINISHED_OK
$STATE,2135,begin surface
$SM_CCo,2166,129.27,0.582,0,0,1650,400.08
$SM_GC,0.88,0.00,0.00,129.27,0.000,0.000,0.582,132,2198,1650,-12.71,-0.06,400.08
$IRIDIUM_FIX,4722.92,-12249.11,270907,000052
$TT8_MAMPS,0.069797
$HUMID,2160
$INTERNAL_PRESSURE,11.5043
$TCM_TEMP,19.70
$XPDR_PINGS,77
$24V_AH,23.9,16.383
$10V_AH,10.1,9.308
$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,34.225,31.650,230.825,129.275,0.000,78.156,80.262,290.626,19.750,0.000,3071.000,15.613,387.639,1092.816,446.669,424.265,627.113,32.335,709.015,0.000,404.070,0.000,4.056
$DEVICE_MAMPS,204.022,79.768,684.931,582.153,0.000,103.000,160.000,223.000,420.000,0.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,130.591,0.000,0.000,0.000,0.000,0.000,0.000,3071.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6438,199
$CFSIZE,260034560,256909312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,210053,4739.322,-12252.891,12,2.1,31,18.3