version: 66.02
glider: 116
mission: 6
dive: 30
start: 9 27 107 17 21 10
data:
$ID,116
$MISSION,6
$DIVE,30
$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,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,180
$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,-29460.367
$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,21
$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
$GPS1,171508,4739.059,-12252.698,41,1.5,41,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-66.7
$GPS2,172033,4739.017,-12252.453,13,1.5,13,18.3
$SPEED_LIMITS,0.192,0.222
$TGT_NAME,HEADING
$TGT_LATLONG,4728.218,-12252.453
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.216,0.051
$KALMAN_X,-1109.7,7.8,-155.9,522.4,-348.4
$KALMAN_Y,-954.8,-121.1,-285.1,523.4,-76.2
$MHEAD_RNG_PITCHd_Wd,161.7,20000,-23.7,-11.111
$D_GRID,128
$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,31,end surface,CONTROL_FINISHED_OK
$STATE,31,begin dive
$GC,35,-2.10,-97.8,0.0,0.0,0,109,0.00,0.00,-72.45,0.000,2,0.000,0.000,133,2142,3279
$GC,113,-2.10,-97.8,2.1,-3.1,12,145,14.82,2.62,-11.50,0.000,4,0.209,0.072,2444,747,3681
$GC,396,-2.10,-97.8,27.9,-8.4,48,403,0.00,2.50,0.00,0.000,6,0.000,0.040,2444,2159,3684
$GC,592,-2.10,-97.8,43.6,-8.1,64,597,0.00,2.60,0.00,0.000,4,0.000,0.061,2444,747,3683
$GC,850,-2.10,-97.8,68.3,-10.3,83,855,0.00,2.47,0.00,0.000,6,0.000,0.040,2444,2151,3684
$GC,1046,-2.10,-97.8,87.5,-9.8,98,1050,0.00,2.58,0.00,0.000,4,0.000,0.061,2444,748,3683
$STATE,1175,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1175,begin apogee
$GC,1185,-0.42,0.0,100.5,9.8,107,1304,1.85,0.00,114.47,0.648,6,0.115,0.000,2812,2353,3281
$STATE,1305,end apogee,CONTROL_FINISHED_OK
$STATE,1305,begin climb
$GC,1310,2.10,97.8,102.6,0.0,117,1434,2.45,2.65,112.78,0.625,4,0.054,0.066,3366,3756,2882
$GC,1686,2.10,97.8,51.9,15.2,146,1690,0.00,2.50,0.00,0.000,6,0.000,0.042,3366,2346,2882
$GC,1888,2.10,97.8,22.1,14.7,162,1892,0.00,2.62,0.00,0.000,4,0.000,0.063,3365,3760,2882
$GC,2026,2.11,105.3,3.8,10.5,181,2039,0.00,2.50,5.68,0.668,6,0.000,0.040,3365,2345,2851
$STATE,2043,end climb,SURFACE_DEPTH_REACHED
$STATE,2043,begin surface coast
$FINISH,0.6,1.020375
$STATE,2064,end surface coast,CONTROL_FINISHED_OK
$STATE,2064,begin surface
$SM_CCo,2095,134.05,0.574,0,0,1650,400.08
$SM_GC,0.74,0.00,0.00,134.05,0.000,0.000,0.574,136,2145,1650,-12.74,-0.11,400.08
$IRIDIUM_FIX,4719.74,-12251.79,270907,202036
$TT8_MAMPS,0.068263
$HUMID,2200
$INTERNAL_PRESSURE,11.5043
$TCM_TEMP,19.70
$XPDR_PINGS,118
$24V_AH,23.9,18.758
$10V_AH,10.1,10.947
$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,34.500,26.300,232.925,134.050,0.000,41.317,37.283,127.815,30.000,0.000,2675.000,13.847,372.766,1014.151,441.401,408.481,348.779,0.000,688.122,0.000,391.238,0.000,4.056
$DEVICE_MAMPS,209.391,72.098,668.057,573.716,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,122.793,0.000,0.000,0.000,0.000,0.000,0.000,2675.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3298,187
$CFSIZE,260034560,256167936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,175909,4739.006,-12252.131,13,1.3,13,18.3