version: 66.02
glider: 116
mission: 6
dive: 17
start: 9 27 107 7 7 19
data:
$ID,116
$MISSION,6
$DIVE,17
$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,-29193.188
$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,27
$R_STBD_OVSHOOT,20
$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
$GPS1,070057,4739.272,-12252.039,10,1.7,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-68.0
$GPS2,070609,4739.279,-12252.049,16,1.0,16,18.3
$SPEED_LIMITS,0.192,0.222
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.179,0.131
$KALMAN_X,457.0,98.2,233.4,391.4,110.7
$KALMAN_Y,10.1,106.3,90.3,-819.7,-72.0
$MHEAD_RNG_PITCHd_Wd,288.0,561,-23.7,-11.111
$D_GRID,125
$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,-60.62,0.000,2,0.000,0.000,134,2144,3019
$GC,94,-2.10,-97.8,2.0,-4.1,10,138,14.60,2.62,-23.77,0.000,4,0.204,0.071,2444,747,3681
$GC,389,-2.10,-97.8,26.6,-8.2,49,396,0.00,2.50,0.00,0.000,6,0.000,0.039,2444,2164,3683
$GC,585,-2.10,-97.8,43.2,-8.6,65,590,0.00,2.60,0.00,0.000,4,0.000,0.059,2444,747,3683
$GC,843,-2.10,-97.8,68.1,-10.0,84,848,0.00,2.47,0.00,0.000,6,0.000,0.040,2444,2151,3683
$GC,1039,-2.10,-97.8,86.0,-9.1,99,1043,0.00,2.58,0.00,0.000,4,0.000,0.060,2444,746,3684
$STATE,1195,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1195,begin apogee
$GC,1204,-0.42,0.0,100.5,8.7,110,1323,1.85,0.00,114.22,0.650,6,0.113,0.000,2811,2352,3281
$STATE,1325,end apogee,CONTROL_FINISHED_OK
$STATE,1325,begin climb
$GC,1329,2.10,97.8,102.2,0.0,120,1453,2.45,2.67,112.60,0.626,4,0.053,0.068,3363,3763,2882
$GC,1618,2.10,97.8,66.5,14.7,142,1625,0.00,2.53,0.00,0.000,6,0.000,0.040,3363,2355,2882
$GC,1814,2.10,97.8,38.5,14.5,158,1819,0.00,2.60,0.00,0.000,4,0.000,0.064,3363,3755,2882
$GC,1966,2.10,97.8,15.5,14.6,171,1972,0.00,2.47,0.00,0.000,6,0.000,0.040,3363,2347,2882
$GC,2038,2.10,97.8,6.5,11.8,182,2045,0.00,2.60,0.00,0.000,4,0.000,0.062,3363,3756,2882
$GC,2118,2.25,226.3,2.4,1.3,194,2138,0.15,2.47,14.27,0.629,2,0.074,0.038,3393,2345,2769
$STATE,2139,end climb,SURFACE_DEPTH_REACHED
$STATE,2139,begin surface coast
$FINISH,1.4,1.020534
$STATE,2243,end surface coast,CONTROL_FINISHED_OK
$STATE,2243,begin surface
$SM_CCo,2275,119.75,0.576,0,0,1650,400.08
$SM_GC,0.83,0.00,0.00,119.75,0.000,0.000,0.576,134,2145,1650,-12.75,-0.14,400.08
$IRIDIUM_FIX,4722.92,-12246.42,270907,101051
$TT8_MAMPS,0.066729
$HUMID,2203
$INTERNAL_PRESSURE,11.5141
$TCM_TEMP,19.80
$XPDR_PINGS,121
$24V_AH,23.9,17.611
$10V_AH,10.1,10.158
$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,34.675,31.400,241.100,119.750,0.000,38.994,35.962,117.222,30.750,4.150,2829.850,16.820,404.789,1095.123,443.848,450.989,341.867,33.331,711.544,0.000,431.247,0.000,4.058
$DEVICE_MAMPS,204.022,71.331,650.416,576.017,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,139.907,0.000,0.000,0.000,0.000,0.000,0.000,2834.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6464,213
$CFSIZE,260034560,256532480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,074820,4739.309,-12252.397,12,1.6,29,18.3