version: 66.02
glider: 116
mission: 6
dive: 82
start: 9 29 107 12 11 46
data:
$ID,116
$MISSION,6
$DIVE,82
$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,-30936.227
$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,13
$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
$GPS1,120341,4738.949,-12253.264,9,2.3,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-67.1
$GPS2,121037,4738.949,-12253.300,12,1.8,28,18.3
$SPEED_LIMITS,0.217,0.279
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.203,0.075
$KALMAN_X,3263.2,-35.3,-93.0,-3069.4,-219.8
$KALMAN_Y,2199.3,63.4,-59.1,-1832.4,-214.9
$MHEAD_RNG_PITCHd_Wd,51.4,157,-27.5,-12.500
$D_GRID,136
$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,-2.40,-88.0,0.0,0.0,0,97,0.00,0.00,-64.75,0.000,2,0.000,0.000,138,1009,3094
$GC,100,-2.48,-146.6,2.2,-5.2,11,144,14.93,1.73,-23.48,0.000,4,0.225,0.114,2361,163,3880
$GC,394,-2.48,-146.6,40.9,-14.1,45,402,0.00,1.52,0.00,0.000,6,0.000,0.046,2362,1008,3881
$GC,591,-2.48,-146.6,68.9,-14.4,61,592,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1008,3881
$GC,782,-2.48,-146.6,96.4,-14.2,76,786,0.00,2.50,0.00,0.000,4,0.000,0.044,2361,2420,3881
$GC,974,-2.48,-146.6,122.5,-13.2,90,978,0.00,2.58,0.00,0.000,6,0.000,0.054,2362,999,3881
$STATE,1078,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1078,begin apogee
$GC,1087,-0.42,0.0,137.3,13.6,98,1269,2.33,0.00,174.07,0.658,6,0.127,0.000,2810,2512,3280
$STATE,1270,end apogee,CONTROL_FINISHED_OK
$STATE,1270,begin climb
$GC,1273,2.48,146.6,143.4,0.0,113,1456,2.85,2.65,171.52,0.629,4,0.052,0.075,3448,3894,2683
$GC,1602,2.48,146.6,87.2,20.9,139,1606,0.00,2.47,0.00,0.000,6,0.000,0.040,3448,2494,2682
$GC,1797,2.48,146.6,46.3,20.9,154,1801,0.00,2.62,0.00,0.000,4,0.000,0.068,3448,3891,2682
$GC,1933,2.48,146.6,17.4,21.5,164,1939,0.00,2.45,0.00,0.000,6,0.000,0.039,3448,2498,2682
$GC,2005,2.48,146.6,2.4,16.4,175,2011,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2497,2683
$STATE,2015,end climb,SURFACE_DEPTH_REACHED
$STATE,2015,begin surface coast
$FINISH,0.2,1.004531
$STATE,2030,end surface coast,CONTROL_FINISHED_OK
$STATE,2030,begin surface
$SM_CCo,2063,112.78,0.571,0,0,1649,400.08
$SM_GC,0.70,0.00,0.00,112.78,0.000,0.000,0.571,135,1009,1649,-12.74,0.25,400.08
$IRIDIUM_FIX,4719.74,-12254.47,290907,151522
$TT8_MAMPS,0.06903
$HUMID,2175
$INTERNAL_PRESSURE,11.4946
$TCM_TEMP,19.60
$XPDR_PINGS,103
$24V_AH,23.4,24.476
$10V_AH,9.5,14.317
$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,35.400,24.025,345.600,112.775,0.000,38.295,44.673,182.844,27.000,34.480,2693.520,28.511,333.965,939.290,518.307,406.935,423.375,33.329,774.930,0.000,371.179,0.000,8.733
$DEVICE_MAMPS,225.498,114.283,658.086,570.648,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,116.160,0.000,0.000,0.000,0.000,0.000,0.000,2728.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3319,179
$CFSIZE,260034560,254836736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,124908,4739.025,-12253.041,12,1.6,29,18.3