version: 66.02
glider: 116
mission: 6
dive: 13
start: 9 27 107 3 28 35
data:
$ID,116
$MISSION,6
$DIVE,13
$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,-29053.275
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,132
$PITCH_MAX,3449
$C_PITCH,2905
$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,2150
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,20
$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
$GPS1,031802,4739.585,-12252.058,11,1.2,16,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-66.1
$GPS2,032727,4739.592,-12252.063,14,1.2,14,18.3
$SPEED_LIMITS,0.192,0.222
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.176,-0.135
$KALMAN_X,-398.0,-169.3,-3.7,1727.1,121.2
$KALMAN_Y,210.1,30.5,57.3,-340.6,134.0
$MHEAD_RNG_PITCHd_Wd,214.3,481,-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,30,-2.10,-97.8,0.0,0.0,0,92,0.00,0.00,-60.55,0.000,2,0.000,0.000,136,2143,3018
$GC,96,-2.10,-97.8,2.1,-4.5,10,140,14.52,2.62,-23.77,0.000,4,0.202,0.071,2445,746,3680
$GC,391,-2.10,-97.8,25.6,-8.0,50,398,0.00,2.50,0.00,0.000,6,0.000,0.040,2445,2163,3682
$GC,587,-2.10,-97.8,41.5,-8.5,66,592,0.00,2.60,0.00,0.000,4,0.000,0.059,2445,747,3683
$GC,845,-2.10,-97.8,66.0,-9.0,85,850,0.00,2.47,0.00,0.000,6,0.000,0.041,2445,2149,3683
$GC,1041,-2.10,-97.8,83.8,-9.0,100,1045,0.00,2.58,0.00,0.000,4,0.000,0.060,2445,749,3682
$STATE,1204,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1205,begin apogee
$GC,1213,-0.42,0.0,100.1,9.8,112,1331,1.83,0.00,113.60,0.649,6,0.112,0.000,2810,2350,3281
$STATE,1333,end apogee,CONTROL_FINISHED_OK
$STATE,1333,begin climb
$GC,1337,2.10,97.8,103.3,0.0,122,1461,2.45,2.65,112.55,0.625,4,0.051,0.067,3366,3754,2881
$GC,1713,2.10,97.8,54.8,15.4,151,1717,0.00,2.50,0.00,0.000,6,0.000,0.040,3366,2344,2882
$GC,1915,2.10,97.8,26.6,13.8,167,1919,0.00,2.62,0.00,0.000,4,0.000,0.064,3366,3755,2881
$GC,2173,2.28,246.7,4.6,-0.2,201,2249,0.17,2.50,68.25,0.595,2,0.077,0.038,3401,2336,2375
$STATE,2250,end climb,SURFACE_DEPTH_REACHED
$STATE,2250,begin surface coast
$FINISH,0.8,1.020005
$STATE,2255,end surface coast,CONTROL_FINISHED_OK
$STATE,2255,begin surface
$SM_CCo,2286,77.75,0.574,0,0,1649,400.08
$SM_GC,1.01,0.00,0.00,77.75,0.000,0.000,0.574,132,2139,1649,-12.76,-0.31,400.08
$IRIDIUM_FIX,4722.92,-12254.47,270907,060612
$TT8_MAMPS,0.067496
$HUMID,2175
$INTERNAL_PRESSURE,11.5141
$TCM_TEMP,19.80
$XPDR_PINGS,77
$24V_AH,23.9,17.182
$10V_AH,10.1,9.867
$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,34.025,26.300,294.400,77.750,0.000,38.846,37.641,368.485,19.750,8.300,3046.700,14.299,391.360,1090.581,430.159,452.245,593.185,33.325,703.195,0.000,433.780,0.000,4.056
$DEVICE_MAMPS,202.488,70.564,648.882,574.483,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,139.953,0.000,0.000,0.000,0.000,0.000,0.000,3055.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6442,214
$CFSIZE,260034560,256651264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,040845,4739.468,-12251.895,9,1.7,9,18.3