version: 66.02
glider: 116
mission: 6
dive: 97
start: 9 30 107 13 51 14
data:
$ID,116
$MISSION,6
$DIVE,97
$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,-31333.49
$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,16
$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
$GPS1,134033,4739.518,-12252.618,9,2.0,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-64.1
$GPS2,135005,4739.600,-12252.567,11,4.4,30,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.107,-0.220
$KALMAN_X,6136.6,564.2,-297.0,-5426.9,-119.6
$KALMAN_Y,4853.4,641.9,-169.4,-3754.9,-4.4
$MHEAD_RNG_PITCHd_Wd,187.6,1659,-14.6,-8.333
$D_GRID,123
$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,30,-1.40,-146.6,0.0,0.0,0,117,0.00,0.00,-84.47,0.000,2,0.000,0.000,133,1006,3433
$GC,120,-1.40,-146.6,2.2,-5.3,14,156,16.23,0.00,-12.73,0.000,6,0.219,0.000,2593,1006,3879
$GC,223,-1.40,-146.6,10.6,-6.0,30,229,0.00,2.50,0.00,0.000,4,0.000,0.043,2593,2416,3880
$GC,362,-1.40,-146.6,19.3,-6.2,51,368,0.00,2.58,0.00,0.000,6,0.000,0.051,2593,1002,3881
$GC,438,-1.40,-146.6,24.6,-7.2,58,442,0.00,2.53,0.00,0.000,4,0.000,0.041,2593,2423,3881
$GC,471,-1.40,-146.6,26.9,-7.0,60,476,0.00,2.60,0.00,0.000,6,0.000,0.051,2595,998,3881
$GC,667,-1.40,-146.6,40.4,-6.6,75,671,0.00,2.50,0.00,0.000,4,0.000,0.041,2593,2417,3881
$GC,794,-1.40,-146.6,48.7,-7.1,84,800,0.00,2.58,0.00,0.000,6,0.000,0.051,2593,998,3881
$GC,990,-1.40,-146.6,61.8,-6.8,100,994,0.00,2.53,0.00,0.000,4,0.000,0.041,2593,2417,3881
$GC,1124,-1.40,-146.6,70.2,-6.2,109,1131,0.00,2.58,0.00,0.000,6,0.000,0.051,2593,999,3881
$GC,1320,-1.40,-146.6,84.1,-7.3,125,1324,0.00,2.53,0.00,0.000,4,0.000,0.041,2593,2423,3881
$GC,1434,-1.40,-146.6,91.9,-7.1,133,1439,0.00,2.60,0.00,0.000,6,0.000,0.054,2593,997,3881
$STATE,1546,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1546,begin apogee
$GC,1555,-0.42,0.0,100.5,7.4,142,1735,1.05,0.00,173.02,0.651,6,0.097,0.000,2807,2509,3281
$STATE,1736,end apogee,CONTROL_FINISHED_OK
$STATE,1736,begin climb
$GC,1739,1.40,146.6,104.1,0.0,157,1920,1.83,2.65,171.30,0.624,4,0.061,0.051,3209,1094,2683
$GC,1954,1.40,146.6,86.2,11.6,175,1958,0.00,2.55,0.00,0.000,6,0.000,0.042,3209,2509,2683
$GC,2149,1.40,146.6,64.8,10.6,190,2153,0.00,2.60,0.00,0.000,4,0.000,0.077,3209,3890,2683
$GC,2201,1.40,146.6,58.8,11.5,194,2206,0.00,2.47,0.00,0.000,6,0.000,0.038,3209,2489,2683
$GC,2397,1.40,146.6,38.1,10.7,209,2401,0.00,2.72,0.00,0.000,4,0.000,0.071,3209,3892,2684
$GC,2442,1.40,146.6,32.7,12.0,212,2447,0.00,2.45,0.00,0.000,6,0.000,0.038,3209,2500,2683
$GC,2641,1.40,146.6,10.9,10.2,233,2647,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2498,2682
$GC,2713,1.40,146.6,3.7,10.6,244,2719,0.00,2.62,0.00,0.000,4,0.000,0.070,3209,3895,2682
$STATE,2730,end climb,SURFACE_DEPTH_REACHED
$STATE,2730,begin surface coast
$FINISH,0.1,1.012400
$STATE,2751,end surface coast,CONTROL_FINISHED_OK
$STATE,2751,begin surface
$SM_CCo,2786,111.88,0.579,0,0,1649,400.08
$SM_GC,0.71,0.00,0.00,111.88,0.000,0.000,0.579,135,1009,1649,-12.75,0.25,400.08
$IRIDIUM_FIX,4722.92,-12251.79,300907,161620
$TT8_MAMPS,0.06903
$HUMID,2139
$INTERNAL_PRESSURE,11.4653
$TCM_TEMP,19.70
$XPDR_PINGS,159
$24V_AH,23.9,26.666
$10V_AH,10.1,16.207
$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,33.225,51.600,344.325,111.875,0.000,39.220,41.514,307.877,40.250,33.210,3549.790,31.756,460.597,1377.881,565.220,490.772,603.793,33.342,862.643,0.000,450.986,0.000,4.057
$DEVICE_MAMPS,219.362,76.700,651.183,579.085,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,164.008,0.000,0.000,0.000,0.000,0.000,0.000,3583.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6441,250
$CFSIZE,260034560,254181376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,144037,4739.354,-12252.821,28,1.6,28,18.3