version: 66.02
glider: 116
mission: 6
dive: 10
start: 9 27 107 0 53 19
data:
$ID,116
$MISSION,6
$DIVE,10
$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,-28989.889
$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,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
$GPS1,004645,4739.626,-12252.877,13,1.7,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-68.0
$GPS2,005209,4739.624,-12252.885,16,1.6,16,18.3
$SPEED_LIMITS,0.192,0.222
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.198,-0.101
$KALMAN_X,-726.6,-269.7,-81.8,1217.3,-41.2
$KALMAN_Y,-320.1,-91.8,-53.9,480.3,31.5
$MHEAD_RNG_PITCHd_Wd,98.7,669,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-2.10,-97.8,0.0,0.0,0,85,0.00,0.00,-54.45,0.000,2,0.000,0.000,134,2145,2869
$GC,89,-2.10,-97.8,2.0,-4.2,9,144,14.55,2.60,-31.15,0.000,4,0.203,0.072,2443,753,3679
$GC,184,-2.10,-97.8,8.2,-13.5,24,190,0.00,2.50,0.00,0.000,6,0.000,0.042,2443,2158,3680
$GC,257,-2.10,-97.8,15.4,-8.0,35,263,0.00,2.60,0.00,0.000,4,0.000,0.060,2443,746,3682
$GC,396,-2.10,-97.8,26.7,-9.0,50,402,0.00,2.50,0.00,0.000,6,0.000,0.041,2443,2156,3682
$GC,591,-2.10,-97.8,44.1,-9.6,66,596,0.00,2.60,0.00,0.000,4,0.000,0.061,2443,744,3682
$GC,651,-2.10,-97.8,49.9,-9.3,70,655,0.00,2.50,0.00,0.000,6,0.000,0.042,2442,2156,3682
$GC,847,-2.10,-97.8,67.6,-8.6,85,851,0.00,2.60,0.00,0.000,4,0.000,0.061,2443,746,3682
$GC,974,-2.10,-97.8,79.6,-10.4,94,979,0.00,2.50,0.00,0.000,6,0.000,0.042,2443,2154,3682
$GC,1170,-2.10,-97.8,98.0,-9.3,109,1175,0.00,2.60,0.00,0.000,4,0.000,0.062,2443,746,3682
$STATE,1195,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1195,begin apogee
$GC,1205,-0.42,0.0,100.5,9.6,110,1324,1.83,0.00,113.95,0.650,6,0.114,0.000,2808,2356,3281
$STATE,1325,end apogee,CONTROL_FINISHED_OK
$STATE,1325,begin climb
$GC,1330,2.10,97.8,102.7,0.0,120,1454,2.45,2.65,112.55,0.630,4,0.052,0.068,3362,3754,2881
$GC,1578,2.10,97.8,73.7,15.8,139,1586,0.00,2.53,0.00,0.000,6,0.000,0.041,3362,2354,2882
$GC,1775,2.10,97.8,46.0,14.1,155,1779,0.00,2.62,0.00,0.000,4,0.000,0.064,3362,3761,2882
$GC,1917,2.10,97.8,25.6,14.5,165,1921,0.00,2.50,0.00,0.000,6,0.000,0.041,3362,2348,2882
$GC,2120,2.18,167.4,2.9,5.8,192,2145,0.00,0.00,22.98,0.615,2,0.000,0.000,3363,2348,2697
$STATE,2146,end climb,SURFACE_DEPTH_REACHED
$STATE,2146,begin surface coast
$FINISH,0.2,1.020429
$STATE,2193,end surface coast,CONTROL_FINISHED_OK
$STATE,2193,begin surface
$SM_CCo,2221,116.60,0.577,0,0,1649,400.08
$SM_GC,1.01,0.00,0.00,116.60,0.000,0.000,0.577,130,2136,1649,-12.77,-0.40,400.08
$IRIDIUM_FIX,4722.92,-12326.34,270907,040440
$TT8_MAMPS,0.066729
$HUMID,2209
$INTERNAL_PRESSURE,11.5043
$TCM_TEMP,19.80
$XPDR_PINGS,127
$24V_AH,23.9,16.885
$10V_AH,10.1,9.663
$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,33.550,36.600,249.475,116.600,0.000,38.933,35.307,129.824,32.250,0.000,2768.000,16.679,390.776,1076.020,452.104,415.764,358.578,33.327,713.663,0.000,395.997,0.000,4.056
$DEVICE_MAMPS,203.255,72.098,649.649,576.784,0.000,103.000,160.000,223.000,420.000,0.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,132.935,0.000,0.000,0.000,0.000,0.000,0.000,2768.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6429,203
$CFSIZE,260034560,256737280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,013302,4739.642,-12252.584,8,1.5,8,18.3