version: 66.02
glider: 116
mission: 6
dive: 11
start: 9 27 107 1 39 49
data:
$ID,116
$MISSION,6
$DIVE,11
$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,-29007.27
$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,23
$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
$GPS1,013302,4739.642,-12252.584,8,1.5,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-66.2
$GPS2,013839,4739.667,-12252.599,16,1.5,16,18.3
$SPEED_LIMITS,0.192,0.222
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.102,-0.197
$KALMAN_X,-745.1,-264.8,-74.2,1579.5,-6.8
$KALMAN_Y,-151.3,-56.5,-31.2,332.3,91.9
$MHEAD_RNG_PITCHd_Wd,134.3,444,-23.7,-11.111
$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,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,-60.60,0.000,2,0.000,0.000,130,2137,3024
$GC,94,-2.10,-97.8,2.3,-5.1,10,137,14.60,0.00,-21.33,0.000,6,0.203,0.000,2444,2136,3680
$GC,203,-2.10,-97.8,10.4,-10.0,27,209,0.00,2.58,0.00,0.000,4,0.000,0.063,2445,740,3681
$GC,381,-2.10,-97.8,26.8,-9.6,49,388,0.00,2.53,0.00,0.000,6,0.000,0.041,2444,2165,3682
$GC,577,-2.10,-97.8,43.9,-9.0,65,582,0.00,2.62,0.00,0.000,4,0.000,0.061,2444,739,3682
$GC,784,-2.10,-97.8,61.8,-9.2,80,788,0.00,2.50,0.00,0.000,6,0.000,0.041,2444,2149,3682
$GC,980,-2.10,-97.8,79.6,-9.3,95,985,0.00,2.60,0.00,0.000,4,0.000,0.061,2444,738,3682
$GC,1174,-2.10,-97.8,98.6,-9.8,109,1178,0.00,2.50,0.00,0.000,6,0.000,0.041,2445,2150,3682
$STATE,1191,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1191,begin apogee
$GC,1197,-0.42,0.0,100.4,9.0,110,1316,1.85,0.00,113.78,0.648,6,0.113,0.000,2808,2355,3281
$STATE,1317,end apogee,CONTROL_FINISHED_OK
$STATE,1317,begin climb
$GC,1322,2.10,97.8,102.8,0.0,120,1446,2.47,2.65,112.60,0.627,4,0.054,0.068,3365,3751,2881
$GC,1586,2.10,97.8,71.8,15.5,140,1592,0.00,2.50,0.00,0.000,6,0.000,0.041,3365,2345,2881
$GC,1781,2.10,97.8,43.8,14.3,156,1782,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,2345,2881
$GC,1975,2.10,97.8,17.9,13.5,172,1981,0.00,2.62,0.00,0.000,4,0.000,0.064,3364,3755,2881
$STATE,2104,end climb,SURFACE_DEPTH_REACHED
$STATE,2104,begin surface coast
$FINISH,2.3,1.020446
$STATE,2151,end surface coast,CONTROL_FINISHED_OK
$STATE,2151,begin surface
$SM_CCo,2160,245.93,0.565,0,0,640,647.84
$SM_GC,0.93,14.57,0.00,0.00,0.047,0.000,0.000,133,2150,638,-12.71,0.00,648.33
$IRIDIUM_FIX,4722.92,-12251.79,270907,040446
$TT8_MAMPS,0.067496
$HUMID,2209
$INTERNAL_PRESSURE,11.436
$TCM_TEMP,19.80
$XPDR_PINGS,125
$24V_AH,23.9,16.985
$10V_AH,10.1,9.723
$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,33.500,26.400,226.375,245.925,0.000,39.186,39.081,136.798,31.750,0.000,2750.000,16.755,385.959,1174.274,553.688,411.030,365.548,33.327,801.938,0.000,391.116,0.000,4.058
$DEVICE_MAMPS,203.255,68.263,648.115,565.279,0.000,103.000,160.000,223.000,420.000,0.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,130.813,0.000,0.000,0.000,0.000,0.000,0.000,2750.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6459,199
$CFSIZE,260034560,256712704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,022259,4739.626,-12252.288,11,4.4,30,18.3