version: 66.02
glider: 116
mission: 6
dive: 90
start: 9 29 107 20 51 4
data:
$ID,116
$MISSION,6
$DIVE,90
$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,0
$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,-31123.635
$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
$GPS1,203902,4738.711,-12253.518,9,1.5,14,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-66.8
$GPS2,205009,4738.784,-12253.344,13,1.3,13,18.3
$SPEED_LIMITS,0.217,0.279
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.216,0.018
$KALMAN_X,3478.6,-170.2,143.1,-3443.7,153.5
$KALMAN_Y,2834.0,-121.3,167.7,-2812.2,142.4
$MHEAD_RNG_PITCHd_Wd,256.5,154,-27.5,-12.500
$D_GRID,150
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-2.40,-88.0,0.0,0.0,0,92,0.00,0.00,-60.62,0.000,2,0.000,0.000,132,1006,2990
$GC,96,-2.48,-146.6,2.0,-4.4,10,151,14.32,1.70,-32.50,0.000,4,0.211,0.117,2359,168,3880
$GC,167,-2.48,-146.6,5.0,-7.9,21,173,0.00,1.52,0.00,0.000,6,0.000,0.047,2359,1008,3880
$GC,239,-2.48,-146.6,14.9,-13.5,32,245,0.00,1.65,0.00,0.000,4,0.000,0.091,2359,166,3880
$GC,347,-2.48,-146.6,29.5,-14.4,43,350,0.00,1.50,0.00,0.000,6,0.000,0.045,2359,1000,3880
$GC,549,-2.48,-146.6,58.2,-14.3,59,553,0.00,2.47,0.00,0.000,4,0.000,0.042,2358,2410,3881
$GC,627,-2.48,-146.6,68.9,-13.0,64,634,0.00,2.58,0.00,0.000,6,0.000,0.051,2359,999,3881
$GC,823,-2.48,-146.6,97.3,-14.7,80,824,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,999,3881
$GC,1013,-2.48,-146.6,123.7,-14.2,95,1017,0.00,2.50,0.00,0.000,4,0.000,0.041,2359,2410,3881
$GC,1078,-2.48,-146.6,132.6,-12.8,99,1085,0.00,2.58,0.00,0.000,6,0.000,0.052,2359,994,3881
$STATE,1211,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1211,begin apogee
$GC,1220,-0.42,0.0,150.4,13.3,110,1402,2.33,0.00,174.27,0.667,6,0.124,0.000,2811,2506,3281
$STATE,1403,end apogee,CONTROL_FINISHED_OK
$STATE,1403,begin climb
$GC,1406,2.48,146.6,152.6,0.0,125,1589,2.90,2.60,172.02,0.637,4,0.065,0.051,3444,1088,2682
$GC,1775,2.48,146.6,98.6,19.4,154,1779,0.00,2.55,0.00,0.000,6,0.000,0.041,3444,2518,2682
$GC,1977,2.48,146.6,59.5,18.6,170,1981,0.00,2.58,0.00,0.000,4,0.000,0.073,3444,3888,2681
$GC,2028,2.48,146.6,49.1,19.8,173,2035,0.00,2.50,0.00,0.000,6,0.000,0.038,3444,2495,2682
$GC,2226,2.48,146.6,13.0,18.2,191,2232,0.00,2.62,0.00,0.000,4,0.000,0.068,3443,3891,2682
$STATE,2283,end climb,SURFACE_DEPTH_REACHED
$STATE,2283,begin surface coast
$FINISH,0.2,1.011473
$STATE,2292,end surface coast,CONTROL_FINISHED_OK
$STATE,2292,begin surface
$SM_CCo,2327,112.05,0.572,0,0,1649,400.08
$SM_GC,0.84,0.00,0.00,112.05,0.000,0.000,0.572,134,1003,1649,-12.75,0.08,400.08
$IRIDIUM_FIX,4722.92,-12251.79,300907,000007
$TT8_MAMPS,0.067496
$HUMID,2128
$INTERNAL_PRESSURE,11.4946
$TCM_TEMP,20.00
$XPDR_PINGS,98
$24V_AH,23.3,25.480
$10V_AH,10.1,14.980
$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,34.575,37.400,346.300,112.050,0.000,79.617,70.712,315.778,26.250,35.340,3179.660,13.159,368.604,1177.153,536.763,409.479,629.193,33.330,809.132,0.000,386.602,0.000,13.966
$DEVICE_MAMPS,210.925,116.584,667.290,572.182,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,130.785,0.000,0.000,0.000,0.000,0.000,0.000,3215.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6444,201
$CFSIZE,260034560,254562304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,213233,4738.848,-12253.619,13,1.9,13,18.3