version: 66.02
glider: 116
mission: 6
dive: 6
start: 9 26 107 21 52 53
data:
$ID,116
$MISSION,6
$DIVE,6
$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,-28922.828
$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,2200
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$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
$GPS1,214544,4739.301,-12253.255,8,1.5,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-66.8
$GPS2,215144,4739.293,-12253.271,13,1.3,30,18.3
$SPEED_LIMITS,0.192,0.222
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.055,0.215
$KALMAN_X,-249.9,-145.1,-73.6,129.2,-25.0
$KALMAN_Y,-264.4,-84.0,11.8,-250.7,-102.7
$MHEAD_RNG_PITCHd_Wd,356.1,332,-23.7,-11.111
$D_GRID,120
$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,-97.8,0.0,0.0,0,96,0.00,0.00,-66.53,0.000,2,0.000,0.000,135,2198,3136
$GC,100,-2.10,-97.8,2.3,-5.5,11,143,14.52,2.67,-18.77,0.000,4,0.202,0.079,2443,3607,3681
$GC,223,-2.10,-97.8,12.3,-10.7,30,229,0.00,2.50,0.00,0.000,6,0.000,0.041,2444,2190,3682
$GC,296,-2.10,-97.8,18.9,-7.9,41,301,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2190,3682
$GC,365,-2.10,-97.8,24.9,-8.6,48,370,0.00,2.55,0.00,0.000,4,0.000,0.063,2444,800,3682
$GC,412,-2.10,-97.8,29.0,-8.8,51,416,0.00,2.50,0.00,0.000,6,0.000,0.043,2444,2209,3682
$GC,607,-2.10,-97.8,46.8,-9.5,66,612,0.00,2.60,0.00,0.000,4,0.000,0.061,2444,794,3683
$GC,864,-2.10,-97.8,74.5,-11.4,85,871,0.00,2.53,0.00,0.000,6,0.000,0.042,2443,2200,3683
$GC,1063,-2.10,-97.8,96.0,-10.7,101,1067,0.00,2.58,0.00,0.000,4,0.000,0.061,2443,799,3682
$STATE,1101,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1101,begin apogee
$GC,1110,-0.42,0.0,100.3,10.9,103,1228,1.83,0.00,113.82,0.654,6,0.111,0.000,2809,2356,3281
$STATE,1229,end apogee,CONTROL_FINISHED_OK
$STATE,1229,begin climb
$GC,1234,2.10,97.8,103.9,0.0,113,1358,2.45,2.67,112.57,0.632,4,0.053,0.071,3363,3755,2882
$GC,1575,2.10,97.8,65.3,13.3,139,1582,0.00,2.53,0.00,0.000,6,0.000,0.041,3362,2353,2882
$GC,1772,2.10,97.8,40.2,12.9,155,1776,0.00,2.62,0.00,0.000,4,0.000,0.066,3362,3761,2882
$GC,1856,2.10,97.8,28.1,14.1,161,1863,0.00,2.53,0.00,0.000,6,0.000,0.041,3362,2350,2882
$GC,2060,2.14,132.9,3.3,8.4,187,2085,0.00,2.65,19.25,0.622,4,0.000,0.064,3362,3757,2738
$STATE,2089,end climb,SURFACE_DEPTH_REACHED
$STATE,2089,begin surface coast
$FINISH,0.3,1.019924
$STATE,2123,end surface coast,CONTROL_FINISHED_OK
$STATE,2124,begin surface
$SM_CCo,2155,116.80,0.578,0,0,1650,400.08
$SM_GC,0.91,0.00,0.00,116.80,0.000,0.000,0.578,132,2191,1650,-12.76,-0.25,400.08
$IRIDIUM_FIX,4722.92,-12256.21,270907,010154
$TT8_MAMPS,0.067496
$HUMID,2186
$INTERNAL_PRESSURE,11.5043
$TCM_TEMP,19.70
$XPDR_PINGS,116
$24V_AH,23.9,16.550
$10V_AH,10.1,9.427
$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,34.000,36.575,245.650,116.800,0.000,32.772,54.805,138.924,29.500,0.000,2766.000,30.316,377.095,1027.477,452.996,428.929,375.863,33.316,711.695,0.000,393.261,0.000,4.057
$DEVICE_MAMPS,202.488,79.001,654.251,578.318,0.000,103.000,160.000,223.000,420.000,0.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,128.802,0.000,0.000,0.000,0.000,0.000,0.000,2766.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6428,197
$CFSIZE,260034560,256856064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,223202,4739.414,-12253.370,40,1.7,40,18.3