version: 66.02
glider: 116
mission: 6
dive: 14
start: 9 27 107 4 30 32
data:
$ID,116
$MISSION,6
$DIVE,14
$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,-29107.729
$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,24
$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
$GPS1,040845,4739.468,-12251.895,9,1.7,9,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-66.1
$GPS2,042925,4739.535,-12251.823,36,1.2,53,18.3
$SPEED_LIMITS,0.192,0.222
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.211,-0.070
$KALMAN_X,-2.0,-96.7,52.9,1498.7,200.0
$KALMAN_Y,270.5,64.8,100.8,-582.5,94.3
$MHEAD_RNG_PITCHd_Wd,233.3,732,-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,-60.42,0.000,2,0.000,0.000,132,2139,3029
$GC,96,-2.10,-97.8,2.1,-4.8,10,140,14.32,2.60,-23.20,0.000,4,0.197,0.069,2442,747,3681
$GC,226,-2.10,-97.8,12.1,-8.7,30,233,0.00,2.47,0.00,0.000,6,0.000,0.039,2442,2156,3682
$GC,299,-2.10,-97.8,17.3,-7.3,41,306,0.00,2.58,0.00,0.000,4,0.000,0.055,2442,741,3682
$GC,458,-2.10,-97.8,30.3,-9.3,56,462,0.00,2.47,0.00,0.000,6,0.000,0.039,2442,2150,3683
$GC,654,-2.10,-97.8,47.6,-9.2,71,658,0.00,2.58,0.00,0.000,4,0.000,0.058,2442,746,3683
$GC,796,-2.10,-97.8,61.5,-9.9,81,801,0.00,2.47,0.00,0.000,6,0.000,0.039,2442,2151,3683
$GC,992,-2.10,-97.8,81.6,-10.3,96,996,0.00,2.58,0.00,0.000,4,0.000,0.060,2442,746,3683
$GC,1131,-2.10,-97.8,96.0,-10.4,106,1135,0.00,2.47,0.00,0.000,6,0.000,0.040,2442,2152,3683
$STATE,1175,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1175,begin apogee
$GC,1181,-0.42,0.0,100.2,9.8,109,1300,1.83,0.00,113.75,0.645,6,0.112,0.000,2809,2358,3281
$STATE,1301,end apogee,CONTROL_FINISHED_OK
$STATE,1301,begin climb
$GC,1306,2.10,97.8,102.5,0.0,119,1430,2.45,2.62,112.62,0.622,4,0.051,0.067,3365,3749,2882
$GC,1536,2.10,97.8,75.8,15.6,137,1540,0.00,2.50,0.00,0.000,6,0.000,0.041,3365,2345,2882
$GC,1731,2.10,97.8,47.5,13.6,152,1736,0.00,2.62,0.00,0.000,4,0.000,0.064,3365,3750,2882
$GC,1915,2.10,97.8,20.8,13.7,165,1922,0.00,2.50,0.00,0.000,6,0.000,0.039,3365,2351,2882
$STATE,2084,end climb,SURFACE_DEPTH_REACHED
$STATE,2085,begin surface coast
$FINISH,1.4,1.020746
$STATE,2127,end surface coast,CONTROL_FINISHED_OK
$STATE,2128,begin surface
$SM_CCo,2157,132.73,0.574,0,0,1649,400.08
$SM_GC,0.88,0.00,0.00,132.73,0.000,0.000,0.574,133,2137,1649,-12.75,-0.37,400.08
$IRIDIUM_FIX,4722.92,-12253.53,270907,080838
$TT8_MAMPS,0.066729
$HUMID,2151
$INTERNAL_PRESSURE,11.5141
$TCM_TEMP,19.80
$XPDR_PINGS,50
$24V_AH,23.9,17.308
$10V_AH,10.1,9.948
$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,34.000,31.225,226.375,132.725,0.000,117.143,107.213,724.008,13.000,8.300,3580.700,53.826,385.656,1162.856,438.851,458.449,1111.221,33.328,694.332,0.000,400.346,0.000,4.058
$DEVICE_MAMPS,197.119,69.030,645.047,573.716,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,128.886,0.000,0.000,0.000,0.000,0.000,0.000,3589.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6448,196
$CFSIZE,260034560,256614400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,050932,4739.498,-12251.996,9,1.3,14,18.3