version: 66.02
glider: 116
mission: 6
dive: 5
start: 9 26 107 21 7 16
data:
$ID,116
$MISSION,6
$DIVE,5
$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,30
$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,100
$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,-28891.885
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,132
$PITCH_MAX,3449
$C_PITCH,2895
$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,2200
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$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
$GPS1,210053,4739.322,-12252.891,12,2.1,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-66.5
$GPS2,210607,4739.315,-12252.898,10,1.7,26,18.3
$SPEED_LIMITS,0.192,0.222
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.169,0.144
$KALMAN_X,-165.0,-98.9,-67.4,453.5,-30.1
$KALMAN_Y,-69.4,-26.7,14.8,-465.0,-18.6
$MHEAD_RNG_PITCHd_Wd,292.3,471,-23.7,-11.111
$D_GRID,124
$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,24,begin dive
$GC,28,-2.10,-97.8,0.0,0.0,0,90,0.00,0.00,-60.55,0.000,2,0.000,0.000,133,2198,3005
$GC,94,-2.10,-97.8,2.1,-4.1,10,143,14.50,2.62,-25.58,0.000,4,0.202,0.074,2434,798,3681
$GC,298,-2.10,-97.8,18.7,-10.8,41,304,0.00,2.50,0.00,0.000,6,0.000,0.042,2434,2205,3682
$GC,374,-2.10,-97.8,25.6,-9.2,48,375,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2205,3683
$GC,565,-2.10,-97.8,43.4,-9.4,63,570,0.00,2.60,0.00,0.000,4,0.000,0.061,2434,793,3683
$GC,823,-2.10,-97.8,70.9,-10.6,82,828,0.00,2.50,0.00,0.000,6,0.000,0.043,2435,2199,3683
$GC,1019,-2.10,-97.8,91.4,-10.5,97,1023,0.00,2.58,0.00,0.000,4,0.000,0.061,2434,798,3683
$STATE,1105,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1105,begin apogee
$GC,1114,-0.42,0.0,100.5,10.0,103,1233,1.83,0.00,113.80,0.654,6,0.114,0.000,2799,2405,3281
$STATE,1234,end apogee,CONTROL_FINISHED_OK
$STATE,1234,begin climb
$GC,1238,2.10,97.8,104.4,0.0,113,1363,2.47,2.70,112.72,0.630,4,0.054,0.077,3354,3804,2882
$GC,1615,2.10,97.8,58.3,14.7,142,1619,0.00,2.50,0.00,0.000,6,0.000,0.042,3353,2401,2882
$GC,1817,2.10,97.8,30.7,13.2,158,1821,0.00,2.65,0.00,0.000,4,0.000,0.071,3353,3805,2882
$GC,1895,2.10,97.8,19.6,13.8,163,1902,0.00,2.50,0.00,0.000,6,0.000,0.041,3354,2393,2882
$STATE,2058,end climb,SURFACE_DEPTH_REACHED
$STATE,2058,begin surface coast
$FINISH,0.7,1.020603
$STATE,2094,end surface coast,CONTROL_FINISHED_OK
$STATE,2094,begin surface
$SM_CCo,2123,134.10,0.583,0,0,1650,400.08
$SM_GC,1.03,0.00,0.00,134.10,0.000,0.000,0.583,135,2198,1650,-12.70,-0.06,400.08
$IRIDIUM_FIX,4722.92,-12253.53,270907,000038
$TT8_MAMPS,0.067496
$HUMID,2185
$INTERNAL_PRESSURE,11.5043
$TCM_TEMP,19.80
$XPDR_PINGS,114
$24V_AH,23.9,16.465
$10V_AH,10.1,9.367
$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,34.025,26.425,226.525,134.100,0.000,38.988,31.703,114.968,29.000,0.000,2704.000,26.575,374.014,1039.775,439.892,422.083,325.310,33.323,687.851,0.000,391.096,0.000,4.061
$DEVICE_MAMPS,202.488,76.700,654.251,582.920,0.000,103.000,160.000,223.000,420.000,0.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,126.901,0.000,0.000,0.000,0.000,0.000,0.000,2704.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6455,193
$CFSIZE,260034560,256884736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,214544,4739.301,-12253.255,8,1.5,13,18.3