version: 66.02
glider: 116
mission: 6
dive: 58
start: 9 28 107 13 29 33
data:
$ID,116
$MISSION,6
$DIVE,58
$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,-3
$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,-30314.607
$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,22
$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
$GPS1,131803,4738.147,-12253.864,11,1.7,11,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-67.1
$GPS2,132833,4738.104,-12253.854,14,1.6,14,18.3
$SPEED_LIMITS,0.289,0.301
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.172,0.247
$KALMAN_X,1316.2,494.0,-164.0,-2272.4,-78.6
$KALMAN_Y,50.2,25.9,-130.9,-1134.0,-17.9
$MHEAD_RNG_PITCHd_Wd,16.6,1555,-26.8,-16.667
$D_GRID,100
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-2.41,-146.6,0.0,0.0,0,122,0.00,0.00,-90.38,0.000,2,0.000,0.000,137,1002,3663
$GC,127,-2.41,-146.6,2.2,-1.4,15,153,14.80,1.73,-5.22,0.000,4,0.221,0.115,2374,160,3880
$GC,405,-2.41,-146.6,43.5,-15.0,45,408,0.00,1.52,0.00,0.000,6,0.000,0.047,2374,1004,3881
$GC,607,-2.41,-146.6,72.6,-15.1,61,611,0.00,2.47,0.00,0.000,4,0.000,0.044,2373,2412,3881
$GC,666,-2.41,-146.6,81.1,-13.8,65,672,0.00,2.58,0.00,0.000,6,0.000,0.054,2374,996,3881
$STATE,797,end dive,TARGET_DEPTH_EXCEEDED
$STATE,797,begin apogee
$GC,807,-0.42,0.0,100.4,14.7,76,986,2.22,0.00,171.12,0.636,6,0.123,0.000,2807,2508,3281
$STATE,987,end apogee,CONTROL_FINISHED_OK
$STATE,987,begin climb
$GC,990,2.41,146.6,106.2,0.0,91,1167,2.80,0.00,169.50,0.611,6,0.053,0.000,3436,2508,2683
$GC,1353,2.41,146.6,48.5,20.2,120,1357,0.00,2.62,0.00,0.000,4,0.000,0.075,3436,3896,2683
$GC,1531,2.41,146.6,10.3,20.5,136,1537,0.00,2.47,0.00,0.000,6,0.000,0.039,3436,2486,2683
$STATE,1574,end climb,SURFACE_DEPTH_REACHED
$STATE,1575,begin surface coast
$FINISH,0.8,1.020590
$STATE,1582,end surface coast,CONTROL_FINISHED_OK
$STATE,1583,begin surface
$SM_CCo,1616,113.38,0.561,0,0,1649,400.08
$SM_GC,0.72,0.00,0.00,113.38,0.000,0.000,0.561,133,1003,1649,-12.75,0.08,400.08
$IRIDIUM_FIX,4719.74,-12242.96,280907,171724
$TT8_MAMPS,0.06903
$HUMID,2174
$INTERNAL_PRESSURE,11.5043
$TCM_TEMP,19.70
$XPDR_PINGS,64
$24V_AH,24.0,21.665
$10V_AH,10.1,12.553
$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,35.075,18.900,340.625,113.375,0.000,79.506,135.135,215.661,16.500,0.000,2465.000,14.140,262.375,724.638,532.777,286.374,574.424,33.319,725.791,0.000,271.637,0.000,4.053
$DEVICE_MAMPS,220.896,115.050,635.843,560.677,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,92.449,0.000,0.000,0.000,0.000,0.000,0.000,2465.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3301,144
$CFSIZE,260034560,255561728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,135935,4738.264,-12253.743,16,3.3,35,18.3