version: 66.02
glider: 116
mission: 6
dive: 91
start: 9 29 107 21 40 0
data:
$ID,116
$MISSION,6
$DIVE,91
$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,-31155.527
$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,11
$R_STBD_OVSHOOT,19
$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
$GPS1,213233,4738.848,-12253.619,13,1.9,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-64.8
$GPS2,213907,4738.922,-12253.508,15,1.0,31,18.3
$SPEED_LIMITS,0.217,0.279
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.000,-0.217
$KALMAN_X,3657.6,-155.9,246.1,-3944.5,220.8
$KALMAN_Y,2920.1,-85.8,249.4,-2761.4,135.4
$MHEAD_RNG_PITCHd_Wd,161.7,241,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,31,-2.40,-88.0,0.0,0.0,0,110,0.00,0.00,-76.70,0.000,2,0.000,0.000,134,1003,3358
$GC,113,-2.48,-146.6,2.0,-2.8,13,151,14.18,2.50,-16.55,0.000,4,0.207,0.051,2363,2419,3879
$GC,224,-2.48,-146.6,12.7,-12.8,30,230,0.00,2.60,0.00,0.000,6,0.000,0.051,2363,993,3879
$GC,302,-2.48,-146.6,23.7,-14.0,40,306,0.00,2.50,0.00,0.000,4,0.000,0.041,2365,2414,3880
$GC,341,-2.48,-146.6,29.3,-13.9,43,345,0.00,2.58,0.00,0.000,6,0.000,0.051,2364,998,3879
$GC,536,-2.48,-146.6,56.7,-14.1,58,541,0.00,2.50,0.00,0.000,4,0.000,0.040,2363,2414,3880
$GC,601,-2.48,-146.6,65.6,-13.2,62,608,0.00,2.60,0.00,0.000,6,0.000,0.051,2364,1002,3880
$GC,797,-2.48,-146.6,92.6,-14.0,78,802,0.00,2.50,0.00,0.000,4,0.000,0.040,2363,2416,3880
$GC,883,-2.48,-146.6,104.3,-13.7,84,887,0.00,2.58,0.00,0.000,6,0.000,0.051,2366,995,3880
$GC,1088,-2.48,-146.6,131.1,-13.0,100,1092,0.00,2.53,0.00,0.000,4,0.000,0.041,2364,2420,3880
$GC,1180,-2.48,-146.6,143.8,-13.3,106,1187,0.00,2.58,0.00,0.000,6,0.000,0.051,2364,999,3880
$STATE,1224,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1225,begin apogee
$GC,1234,-0.42,0.0,150.2,14.3,110,1415,2.30,0.00,174.25,0.667,6,0.126,0.000,2809,2511,3281
$STATE,1416,end apogee,CONTROL_FINISHED_OK
$STATE,1416,begin climb
$GC,1419,2.48,146.6,154.3,0.0,125,1603,2.85,2.67,172.05,0.637,4,0.054,0.077,3447,3891,2683
$GC,1709,2.48,146.6,105.0,23.2,148,1713,0.00,2.47,0.00,0.000,6,0.000,0.038,3447,2492,2683
$GC,1904,2.48,146.6,62.5,21.8,163,1908,0.00,2.62,0.00,0.000,4,0.000,0.068,3446,3890,2682
$GC,2088,2.48,146.6,21.7,22.1,176,2095,0.00,2.45,0.00,0.000,6,0.000,0.038,3447,2511,2682
$STATE,2198,end climb,SURFACE_DEPTH_REACHED
$STATE,2198,begin surface coast
$FINISH,0.8,1.020566
$STATE,2219,end surface coast,CONTROL_FINISHED_OK
$STATE,2219,begin surface
$SM_CCo,2253,120.32,0.579,0,0,1650,400.08
$SM_GC,0.75,0.00,0.00,120.32,0.000,0.000,0.579,134,1004,1650,-12.75,0.11,400.08
$IRIDIUM_FIX,4722.92,-12256.21,300907,000033
$TT8_MAMPS,0.069797
$HUMID,2141
$INTERNAL_PRESSURE,11.4848
$TCM_TEMP,19.80
$XPDR_PINGS,107
$24V_AH,23.5,25.595
$10V_AH,9.9,15.042
$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,34.575,41.200,346.300,120.325,0.000,38.087,35.127,171.791,28.500,35.360,2826.640,31.263,367.281,1040.319,544.555,430.625,397.288,33.322,816.023,0.000,389.499,0.000,11.856
$DEVICE_MAMPS,207.090,76.700,667.290,579.085,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,126.866,0.000,0.000,0.000,0.000,0.000,0.000,2862.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6463,195
$CFSIZE,260034560,254537728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,222021,4738.608,-12253.427,11,1.4,11,18.3