version: 66.02
glider: 116
mission: 6
dive: 7
start: 9 26 107 22 38 30
data:
$ID,116
$MISSION,6
$DIVE,7
$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,-28940.172
$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,2150
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$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
$GPS1,223202,4739.414,-12253.370,40,1.7,40,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-66.5
$GPS2,223720,4739.397,-12253.375,11,1.3,16,18.3
$SPEED_LIMITS,0.192,0.222
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.143,0.150
$KALMAN_X,-398.4,-197.5,-71.9,199.7,-46.8
$KALMAN_Y,-405.4,-111.1,-4.9,122.8,-143.0
$MHEAD_RNG_PITCHd_Wd,25.4,251,-25.5,-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,-2.23,-85.2,0.0,0.0,0,96,0.00,0.00,-66.45,0.000,2,0.000,0.000,132,2192,3135
$GC,100,-2.24,-97.8,2.1,-3.9,11,143,14.38,2.58,-19.35,0.000,4,0.203,0.077,2410,3554,3681
$GC,198,-2.24,-97.8,10.2,-11.3,26,204,0.00,2.50,0.00,0.000,6,0.000,0.043,2410,2140,3681
$GC,271,-2.24,-97.8,16.8,-8.1,37,277,0.00,2.65,0.00,0.000,4,0.000,0.066,2410,3568,3682
$GC,297,-2.24,-97.8,19.4,-9.9,41,303,0.00,2.50,0.00,0.000,6,0.000,0.041,2410,2146,3682
$GC,367,-2.24,-97.8,26.0,-9.5,47,371,0.00,2.58,0.00,0.000,4,0.000,0.064,2410,749,3682
$GC,479,-2.24,-97.8,37.2,-10.3,55,483,0.00,2.50,0.00,0.000,6,0.000,0.042,2410,2158,3682
$GC,675,-2.24,-97.8,58.2,-10.9,70,679,0.00,2.60,0.00,0.000,4,0.000,0.061,2410,748,3683
$GC,779,-2.24,-97.8,69.9,-11.3,77,786,0.00,2.47,0.00,0.000,6,0.000,0.042,2410,2147,3683
$GC,976,-2.24,-97.8,89.2,-10.0,93,984,0.00,2.60,0.00,0.000,4,0.000,0.063,2410,740,3684
$STATE,1076,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1076,begin apogee
$GC,1087,-0.42,0.0,100.7,11.4,100,1206,2.03,0.00,114.07,0.650,6,0.117,0.000,2811,2347,3281
$STATE,1208,end apogee,CONTROL_FINISHED_OK
$STATE,1208,begin climb
$GC,1212,2.24,97.8,104.0,0.0,110,1336,2.62,2.75,112.80,0.627,4,0.053,0.071,3402,3758,2882
$GC,1541,2.24,97.8,60.9,17.0,135,1548,0.00,2.53,0.00,0.000,6,0.000,0.041,3401,2354,2882
$GC,1737,2.24,97.8,30.5,15.6,151,1741,0.00,2.62,0.00,0.000,4,0.000,0.065,3401,3761,2882
$GC,1922,2.25,102.3,3.4,10.7,173,1935,0.00,2.50,3.38,0.695,6,0.000,0.041,3401,2343,2863
$STATE,1939,end climb,SURFACE_DEPTH_REACHED
$STATE,1939,begin surface coast
$FINISH,0.6,1.020250
$STATE,1960,end surface coast,CONTROL_FINISHED_OK
$STATE,1960,begin surface
$SM_CCo,1991,137.48,0.575,0,0,1649,400.08
$SM_GC,0.94,0.00,0.00,137.48,0.000,0.000,0.575,133,2143,1649,-12.75,-0.20,400.08
$IRIDIUM_FIX,4722.92,-12200.32,270907,010155
$TT8_MAMPS,0.067496
$HUMID,2188
$INTERNAL_PRESSURE,11.4946
$TCM_TEMP,19.70
$XPDR_PINGS,110
$24V_AH,23.9,16.632
$10V_AH,10.1,9.483
$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,34.450,36.650,230.250,137.475,0.000,41.115,31.821,125.460,28.000,0.000,2575.000,16.716,352.736,932.545,466.234,382.722,342.960,33.314,711.267,0.000,362.734,0.000,4.062
$DEVICE_MAMPS,203.255,77.467,694.902,575.250,0.000,103.000,160.000,223.000,420.000,0.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,116.797,0.000,0.000,0.000,0.000,0.000,0.000,2575.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3309,179
$CFSIZE,260034560,256831488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,231505,4739.518,-12253.312,10,2.2,29,18.3