version: 66.02
glider: 116
mission: 6
dive: 21
start: 9 27 107 10 22 35
data:
$ID,116
$MISSION,6
$DIVE,21
$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,-29290.143
$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,23
$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
$GPS1,101556,4739.101,-12253.404,37,1.8,38,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-67.1
$GPS2,102127,4739.089,-12253.407,11,1.2,11,18.3
$SPEED_LIMITS,0.192,0.222
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.174,0.138
$KALMAN_X,-805.4,84.2,-25.3,241.5,-334.7
$KALMAN_Y,-964.4,-51.6,-207.8,251.9,-261.8
$MHEAD_RNG_PITCHd_Wd,33.1,1437,-23.7,-11.111
$D_GRID,131
$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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,31,-2.10,-97.8,0.0,0.0,0,112,0.00,0.00,-78.53,0.000,2,0.000,0.000,132,2148,3444
$GC,115,-2.10,-97.8,2.3,-0.9,13,146,14.90,2.65,-6.15,0.000,4,0.212,0.072,2443,742,3682
$GC,397,-2.10,-97.8,28.3,-8.2,48,404,0.00,2.50,0.00,0.000,6,0.000,0.041,2442,2155,3684
$GC,593,-2.10,-97.8,44.2,-9.1,64,598,0.00,2.60,0.00,0.000,4,0.000,0.060,2442,740,3683
$GC,852,-2.10,-97.8,69.1,-9.1,83,856,0.00,2.50,0.00,0.000,6,0.000,0.041,2442,2154,3684
$GC,1047,-2.10,-97.8,87.9,-9.8,98,1052,0.00,2.60,0.00,0.000,4,0.000,0.060,2443,738,3684
$STATE,1176,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1176,begin apogee
$GC,1185,-0.42,0.0,100.2,9.1,107,1304,1.85,0.00,114.38,0.649,6,0.115,0.000,2811,2352,3281
$STATE,1306,end apogee,CONTROL_FINISHED_OK
$STATE,1306,begin climb
$GC,1310,2.10,97.8,101.7,0.0,117,1435,2.47,2.65,112.85,0.625,4,0.054,0.067,3366,3754,2881
$GC,1686,2.10,97.8,52.6,14.5,146,1691,0.00,2.50,0.00,0.000,6,0.000,0.041,3366,2342,2881
$GC,1888,2.10,97.8,24.5,14.0,162,1893,0.00,2.62,0.00,0.000,4,0.000,0.063,3366,3756,2881
$STATE,2070,end climb,SURFACE_DEPTH_REACHED
$STATE,2070,begin surface coast
$FINISH,0.7,1.020401
$STATE,2104,end surface coast,CONTROL_FINISHED_OK
$STATE,2104,begin surface
$SM_CCo,2137,133.88,0.576,0,0,1649,400.08
$SM_GC,0.80,0.00,0.00,133.88,0.000,0.000,0.576,135,2142,1649,-12.74,-0.23,400.08
$IRIDIUM_FIX,4722.92,-12251.79,270907,131321
$TT8_MAMPS,0.066729
$HUMID,2180
$INTERNAL_PRESSURE,11.5043
$TCM_TEMP,19.70
$XPDR_PINGS,119
$24V_AH,23.9,17.966
$10V_AH,10.1,10.409
$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,34.625,26.450,227.225,133.875,0.000,38.695,42.797,133.445,30.250,4.150,2739.850,11.535,372.094,1044.258,439.642,417.092,357.732,33.320,688.775,0.000,402.020,0.000,4.056
$DEVICE_MAMPS,212.459,72.098,648.882,576.017,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,126.303,0.000,0.000,0.000,0.000,0.000,0.000,2744.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6438,192
$CFSIZE,260034560,256425984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,110114,4739.163,-12253.571,11,1.3,11,18.3