version: 66.02
glider: 116
mission: 6
dive: 15
start: 9 27 107 5 20 54
data:
$ID,116
$MISSION,6
$DIVE,15
$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,-29140.719
$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,26
$R_STBD_OVSHOOT,23
$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
$GPS1,050932,4739.498,-12251.996,9,1.3,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-65.6
$GPS2,051947,4739.512,-12252.014,12,3.2,31,18.3
$SPEED_LIMITS,0.192,0.222
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.219,-0.037
$KALMAN_X,61.4,-54.1,108.7,1110.4,202.0
$KALMAN_Y,291.3,97.9,132.5,-710.6,33.1
$MHEAD_RNG_PITCHd_Wd,242.2,491,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,30,-2.10,-97.8,0.0,0.0,0,110,0.00,0.00,-78.45,0.000,2,0.000,0.000,133,2137,3451
$GC,114,-2.10,-97.8,2.1,-0.7,13,145,14.70,2.62,-6.12,0.000,4,0.207,0.071,2442,744,3681
$GC,395,-2.10,-97.8,29.4,-9.1,48,402,0.00,2.50,0.00,0.000,6,0.000,0.040,2442,2161,3684
$GC,592,-2.10,-97.8,46.8,-9.5,64,596,0.00,2.60,0.00,0.000,4,0.000,0.059,2442,744,3683
$GC,850,-2.10,-97.8,72.2,-9.9,83,854,0.00,2.50,0.00,0.000,6,0.000,0.040,2442,2154,3684
$GC,1046,-2.10,-97.8,91.4,-9.6,98,1050,0.00,2.60,0.00,0.000,4,0.000,0.061,2442,741,3685
$STATE,1131,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1132,begin apogee
$GC,1141,-0.42,0.0,100.4,10.7,104,1261,1.83,0.00,114.22,0.647,6,0.113,0.000,2808,2358,3281
$STATE,1262,end apogee,CONTROL_FINISHED_OK
$STATE,1262,begin climb
$GC,1267,2.10,97.8,103.4,0.0,114,1391,2.47,2.65,112.78,0.625,4,0.053,0.067,3364,3756,2881
$GC,1643,2.10,97.8,55.5,15.0,143,1647,0.00,2.50,0.00,0.000,6,0.000,0.041,3364,2344,2881
$GC,1845,2.10,97.8,26.7,14.5,159,1849,0.00,2.62,0.00,0.000,4,0.000,0.064,3364,3755,2881
$GC,2083,2.26,231.1,2.1,0.9,191,2091,0.15,2.47,2.58,0.729,2,0.074,0.039,3394,2345,2867
$STATE,2092,end climb,SURFACE_DEPTH_REACHED
$STATE,2092,begin surface coast
$FINISH,1.9,1.020731
$STATE,2271,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2271,begin surface
$SM_CCo,2300,130.65,0.576,0,0,1650,400.08
$SM_GC,0.95,0.00,0.00,130.65,0.000,0.000,0.576,134,2145,1650,-12.74,-0.11,400.08
$IRIDIUM_FIX,4722.92,-12251.79,270907,080825
$TT8_MAMPS,0.068263
$HUMID,2190
$INTERNAL_PRESSURE,11.5336
$TCM_TEMP,19.80
$XPDR_PINGS,77
$24V_AH,23.9,17.409
$10V_AH,10.1,10.018
$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,34.800,26.350,229.575,130.650,0.000,38.334,35.753,402.406,19.750,8.300,3155.700,32.363,414.349,1123.622,439.148,471.175,624.762,33.324,703.389,0.000,435.234,0.000,4.057
$DEVICE_MAMPS,207.090,71.331,729.417,576.017,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,144.428,0.000,0.000,0.000,0.000,0.000,0.000,3164.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6451,219
$CFSIZE,260034560,256589824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,060215,4739.384,-12251.854,13,1.6,13,18.3