version: 66.02
glider: 116
mission: 6
dive: 66
start: 9 28 107 21 31 2
data:
$ID,116
$MISSION,6
$DIVE,66
$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,-30596.287
$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,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
$GPS1,212438,4738.463,-12253.405,9,1.5,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-67.7
$GPS2,212950,4738.471,-12253.364,11,1.4,16,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,S2
$TGT_LATLONG,4737.767,-12254.100
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.094,-0.225
$KALMAN_X,2583.8,307.0,412.8,-3318.3,-154.2
$KALMAN_Y,1018.6,171.4,317.3,-2017.4,-0.7
$MHEAD_RNG_PITCHd_Wd,184.4,1594,-14.6,-8.333
$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,24,begin dive
$GC,28,-1.40,-146.6,0.0,0.0,0,96,0.00,0.00,-66.50,0.000,2,0.000,0.000,135,1005,3117
$GC,100,-1.40,-146.6,2.2,-5.3,11,144,16.48,2.58,-22.05,0.000,4,0.225,0.054,2593,2419,3880
$GC,395,-1.40,-146.6,22.0,-6.8,54,402,0.00,2.58,0.00,0.000,6,0.000,0.050,2594,1001,3881
$GC,591,-1.40,-146.6,36.0,-7.3,70,596,0.00,2.50,0.00,0.000,4,0.000,0.041,2594,2412,3881
$GC,850,-1.40,-146.6,53.7,-6.7,89,854,0.00,2.58,0.00,0.000,6,0.000,0.051,2594,995,3882
$GC,1045,-1.40,-146.6,67.8,-7.3,104,1050,0.00,2.53,0.00,0.000,4,0.000,0.042,2594,2421,3882
$GC,1277,-1.40,-146.6,82.3,-5.9,121,1281,0.00,2.60,0.00,0.000,6,0.000,0.051,2594,995,3882
$GC,1473,-1.40,-146.6,95.0,-6.5,136,1477,0.00,2.50,0.00,0.000,4,0.000,0.041,2594,2416,3882
$STATE,1555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1555,begin apogee
$GC,1562,-0.42,0.0,100.3,6.0,142,1739,1.05,0.00,171.57,0.644,6,0.096,0.000,2809,2512,3281
$STATE,1740,end apogee,CONTROL_FINISHED_OK
$STATE,1741,begin climb
$GC,1743,1.40,146.6,102.3,0.0,157,1921,1.83,0.00,170.52,0.614,6,0.058,0.000,3214,2512,2683
$GC,2109,1.40,146.6,68.6,11.0,187,2110,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2512,2683
$GC,2299,1.40,146.6,48.0,10.9,202,2300,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2512,2684
$GC,2487,1.40,146.6,27.1,10.6,217,2489,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2512,2682
$GC,2680,1.40,146.6,7.4,9.4,241,2686,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2512,2682
$GC,2753,1.51,235.6,2.4,4.9,252,2765,0.00,0.00,11.00,0.637,2,0.000,0.000,3214,2512,2608
$STATE,2766,end climb,SURFACE_DEPTH_REACHED
$STATE,2767,begin surface coast
$FINISH,0.0,1.009765
$STATE,2827,end surface coast,CONTROL_FINISHED_OK
$STATE,2827,begin surface
$SM_CCo,2857,104.72,0.578,0,0,1649,400.08
$SM_GC,0.71,0.00,0.00,104.72,0.000,0.000,0.578,138,995,1649,-12.73,-0.14,400.08
$IRIDIUM_FIX,4722.92,-12253.53,290907,000014
$TT8_MAMPS,0.067496
$HUMID,2207
$INTERNAL_PRESSURE,11.5141
$TCM_TEMP,19.40
$XPDR_PINGS,162
$24V_AH,23.9,22.605
$10V_AH,10.0,13.196
$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,33.550,20.850,353.100,104.725,0.000,38.075,32.269,117.505,41.000,24.900,3380.100,16.588,469.800,1468.891,531.953,483.893,351.602,33.330,815.251,0.000,468.040,0.000,4.056
$DEVICE_MAMPS,224.731,71.331,644.280,578.318,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,173.276,0.000,0.000,0.000,0.000,0.000,0.000,3405.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6452,263
$CFSIZE,260034560,255303680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,222132,4738.198,-12253.771,13,1.4,30,18.3