version: 66.02
glider: 116
mission: 6
dive: 52
start: 9 28 107 9 32 57
data:
$ID,116
$MISSION,6
$DIVE,52
$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,20
$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,150
$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,-30202.92
$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,1000
$C_ROLL_CLIMB,2510
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,16
$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
$GPS1,092526,4738.558,-12253.331,11,1.5,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-65.4
$GPS2,093150,4738.546,-12253.403,14,1.3,14,18.3
$SPEED_LIMITS,0.289,0.301
$TGT_NAME,S2
$TGT_LATLONG,4737.767,-12254.100
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.031,-0.300
$KALMAN_X,1438.2,834.0,275.9,-2610.9,-204.5
$KALMAN_Y,296.4,172.7,50.9,-888.9,-42.2
$MHEAD_RNG_PITCHd_Wd,167.6,1685,-26.8,-16.667
$D_GRID,144
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-2.41,-146.6,0.0,0.0,0,97,0.00,0.00,-64.78,0.000,2,0.000,0.000,133,1002,3083
$GC,100,-2.41,-146.6,2.2,-5.6,11,144,15.07,1.73,-23.80,0.000,4,0.227,0.120,2374,165,3879
$GC,395,-2.41,-146.6,41.9,-15.2,45,402,0.00,1.52,0.00,0.000,6,0.000,0.048,2375,1005,3880
$GC,591,-2.41,-146.6,70.2,-15.2,61,596,0.00,2.47,0.00,0.000,4,0.000,0.044,2374,2413,3880
$GC,658,-2.41,-146.6,79.7,-14.1,66,662,0.00,2.58,0.00,0.000,6,0.000,0.055,2374,1001,3880
$STATE,815,end dive,TARGET_DEPTH_EXCEEDED
$STATE,815,begin apogee
$GC,824,-0.42,0.0,101.7,13.8,78,1002,2.25,0.00,170.48,0.637,6,0.128,0.000,2808,2508,3281
$STATE,1003,end apogee,CONTROL_FINISHED_OK
$STATE,1004,begin climb
$GC,1006,2.41,146.6,105.9,0.0,93,1188,2.80,2.70,168.60,0.611,4,0.054,0.075,3433,3890,2683
$GC,1340,2.41,146.6,48.9,21.6,119,1347,0.00,2.50,0.00,0.000,6,0.000,0.041,3433,2496,2683
$GC,1539,2.41,146.6,9.3,19.1,139,1545,0.00,2.62,0.00,0.000,4,0.000,0.069,3433,3891,2683
$GC,1572,2.45,179.3,4.3,14.2,144,1597,0.00,2.42,18.98,0.597,6,0.000,0.040,3433,2507,2548
$STATE,1601,end climb,SURFACE_DEPTH_REACHED
$STATE,1601,begin surface coast
$FINISH,0.1,1.010072
$STATE,1618,end surface coast,CONTROL_FINISHED_OK
$STATE,1618,begin surface
$SM_CCo,1649,95.88,0.564,0,0,1650,400.08
$SM_GC,0.71,0.00,0.00,95.88,0.000,0.000,0.564,136,1006,1650,-12.74,0.17,400.08
$IRIDIUM_FIX,4719.74,-12251.79,280907,121208
$TT8_MAMPS,0.067496
$HUMID,2178
$INTERNAL_PRESSURE,11.5141
$TCM_TEMP,19.70
$XPDR_PINGS,39
$24V_AH,23.8,21.055
$10V_AH,9.6,12.235
$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,35.450,24.100,358.050,95.875,0.000,40.591,39.742,161.667,10.250,16.600,2238.400,15.010,271.089,659.954,510.478,317.029,398.311,33.325,737.928,0.000,301.765,0.000,6.099
$DEVICE_MAMPS,227.032,119.652,636.610,563.745,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,96.866,0.000,0.000,0.000,0.000,0.000,0.000,2255.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3308,151
$CFSIZE,260034560,255721472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,100307,4738.271,-12253.515,12,1.3,28,18.3