version: 66.02
glider: 116
mission: 6
dive: 80
start: 9 29 107 10 38 43
data:
$ID,116
$MISSION,6
$DIVE,80
$D_SURF,2
$D_FLARE,2
$D_TGT,150
$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,310
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,14400
$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,-30873.293
$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,17
$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
$GPS1,103121,4738.807,-12253.368,10,1.9,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-68.3
$GPS2,103733,4738.819,-12253.428,15,1.6,15,18.3
$SPEED_LIMITS,0.217,0.279
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.155,0.151
$KALMAN_X,3530.1,60.4,94.0,-3773.7,-222.3
$KALMAN_Y,2315.0,188.4,115.7,-2482.3,-242.2
$MHEAD_RNG_PITCHd_Wd,27.4,148,-27.5,-12.500
$D_GRID,139
$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,30,-2.40,-88.0,0.0,0.0,0,91,0.00,0.00,-58.80,0.000,2,0.000,0.000,136,1005,2945
$GC,94,-2.48,-146.6,2.0,-4.6,10,150,14.60,2.58,-35.67,0.000,4,0.218,0.053,2360,2423,3879
$GC,401,-2.48,-146.6,35.2,-13.3,48,408,0.00,2.62,0.00,0.000,6,0.000,0.051,2360,999,3880
$GC,597,-2.48,-146.6,62.2,-13.6,64,601,0.00,2.53,0.00,0.000,4,0.000,0.041,2360,2416,3881
$GC,855,-2.48,-146.6,98.5,-15.2,83,859,0.00,2.58,0.00,0.000,6,0.000,0.053,2360,995,3880
$GC,1050,-2.48,-146.6,127.2,-14.6,98,1055,0.00,2.53,0.00,0.000,4,0.000,0.042,2360,2419,3881
$STATE,1133,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1133,begin apogee
$GC,1140,-0.42,0.0,139.2,13.9,104,1322,2.33,0.00,174.10,0.658,6,0.125,0.000,2805,2515,3281
$STATE,1324,end apogee,CONTROL_FINISHED_OK
$STATE,1324,begin climb
$GC,1326,2.48,146.6,143.3,0.0,119,1510,2.90,0.00,171.77,0.630,6,0.054,0.000,3449,2514,2683
$GC,1701,2.48,146.6,80.7,20.4,149,1705,0.00,2.60,0.00,0.000,4,0.000,0.074,3449,3887,2682
$GC,1828,2.48,146.6,51.8,23.1,158,1832,0.00,2.47,0.00,0.000,6,0.000,0.040,3449,2497,2683
$GC,2025,2.48,146.6,11.3,20.3,176,2031,0.00,2.62,0.00,0.000,4,0.000,0.068,3449,3886,2682
$STATE,2075,end climb,SURFACE_DEPTH_REACHED
$STATE,2075,begin surface coast
$FINISH,0.6,1.020413
$STATE,2093,end surface coast,CONTROL_FINISHED_OK
$STATE,2093,begin surface
$SM_CCo,2128,115.05,0.571,0,0,1649,400.08
$SM_GC,0.90,0.00,0.00,115.05,0.000,0.000,0.571,137,1004,1649,-12.74,0.11,400.08
$IRIDIUM_FIX,4719.74,-12251.79,290907,131312
$TT8_MAMPS,0.067496
$HUMID,2176
$INTERNAL_PRESSURE,11.4946
$TCM_TEMP,19.60
$XPDR_PINGS,107
$24V_AH,23.9,24.249
$10V_AH,10.0,14.195
$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,35.150,25.975,345.875,115.050,0.000,38.016,41.090,159.526,28.000,34.480,2693.520,15.256,343.937,981.958,543.415,382.732,392.763,33.329,779.887,0.000,361.547,0.000,8.734
$DEVICE_MAMPS,217.828,74.399,658.086,570.648,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,120.900,0.000,0.000,0.000,0.000,0.000,0.000,2728.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6425,186
$CFSIZE,260034560,254889984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,111717,4738.848,-12253.323,14,2.9,33,18.3