version: 66.02
glider: 116
mission: 6
dive: 62
start: 9 28 107 17 35 0
data:
$ID,116
$MISSION,6
$DIVE,62
$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,40
$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,-30495.148
$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,15
$R_STBD_OVSHOOT,18
$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
$GPS1,172823,4738.957,-12252.571,9,2.6,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-66.0
$GPS2,173351,4738.976,-12252.487,11,1.6,11,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,S2
$TGT_LATLONG,4737.767,-12254.100
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.183,-0.162
$KALMAN_X,2522.0,367.2,-65.3,-1765.5,276.2
$KALMAN_Y,712.9,39.9,-37.3,-304.0,207.9
$MHEAD_RNG_PITCHd_Wd,210.1,3010,-14.6,-8.333
$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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,30,-1.40,-146.6,0.0,0.0,0,98,0.00,0.00,-66.10,0.000,2,0.000,0.000,134,1005,3135
$GC,102,-1.40,-146.6,2.2,-5.5,11,151,15.57,2.53,-23.05,0.000,4,0.206,0.050,2595,2415,3879
$GC,403,-1.40,-146.6,19.3,-5.5,57,409,0.00,2.55,0.00,0.000,6,0.000,0.049,2595,999,3881
$GC,479,-1.40,-146.6,24.1,-6.2,64,483,0.00,2.50,0.00,0.000,4,0.000,0.040,2595,2422,3881
$GC,544,-1.40,-146.6,28.1,-6.4,68,551,0.00,2.58,0.00,0.000,6,0.000,0.050,2595,993,3881
$GC,740,-1.40,-146.6,42.0,-7.0,84,745,0.00,2.50,0.00,0.000,4,0.000,0.040,2595,2417,3881
$GC,938,-1.40,-146.6,56.1,-7.5,98,944,0.00,2.58,0.00,0.000,6,0.000,0.051,2595,993,3881
$GC,1134,-1.40,-146.6,70.0,-6.8,114,1138,0.00,2.50,0.00,0.000,4,0.000,0.041,2595,2416,3881
$GC,1299,-1.40,-146.6,81.1,-6.7,126,1304,0.00,2.58,0.00,0.000,6,0.000,0.052,2595,995,3881
$GC,1497,-1.40,-146.6,94.3,-6.7,141,1501,0.00,2.53,0.00,0.000,4,0.000,0.041,2595,2425,3881
$STATE,1588,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1588,begin apogee
$GC,1595,-0.42,0.0,100.4,6.3,147,1772,1.02,0.00,171.02,0.645,6,0.092,0.000,2807,2519,3281
$STATE,1773,end apogee,CONTROL_FINISHED_OK
$STATE,1774,begin climb
$GC,1776,1.40,146.6,102.9,0.0,162,1959,1.83,2.70,169.57,0.615,4,0.057,0.077,3207,3885,2683
$GC,2034,1.40,146.6,80.8,12.1,182,2040,0.00,2.45,0.00,0.000,6,0.000,0.040,3207,2495,2683
$GC,2229,1.40,146.6,59.9,10.2,198,2230,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2493,2683
$GC,2422,1.40,146.6,40.8,10.0,213,2423,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2493,2682
$GC,2609,1.40,146.6,21.4,10.1,228,2610,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2493,2682
$GC,2805,1.43,171.7,2.9,7.4,257,2825,0.00,2.30,14.93,0.627,3,0.000,0.065,3207,3694,2580
$STATE,2826,end climb,SURFACE_DEPTH_REACHED
$STATE,2826,begin surface coast
$FINISH,0.1,1.020651
$STATE,2857,end surface coast,CONTROL_FINISHED_OK
$STATE,2857,begin surface
$SM_CCo,2892,99.75,0.578,0,0,1649,400.08
$SM_GC,0.89,0.00,0.00,99.75,0.000,0.000,0.578,133,1004,1649,-12.76,0.11,400.08
$IRIDIUM_FIX,4722.92,-12256.21,280907,212114
$TT8_MAMPS,0.066729
$HUMID,2188
$INTERNAL_PRESSURE,11.5141
$TCM_TEMP,19.70
$XPDR_PINGS,104
$24V_AH,23.8,22.154
$10V_AH,10.0,12.895
$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,32.500,35.375,355.525,99.750,0.000,0.000,0.000,0.000,26.500,20.750,3026.250,11.881,474.435,1455.839,525.819,495.311,128.769,33.328,842.262,0.000,494.857,0.000,4.057
$DEVICE_MAMPS,206.323,77.467,645.047,578.318,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,174.095,0.000,0.000,0.000,0.000,0.000,0.000,3047.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6449,265
$CFSIZE,260034560,255393792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,182545,4738.896,-12252.679,14,1.8,15,18.3