version: 66.02
glider: 116
mission: 6
dive: 18
start: 9 27 107 8 5 6
data:
$ID,116
$MISSION,6
$DIVE,18
$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,-29229.432
$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,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
$GPS1,074820,4739.309,-12252.397,12,1.6,29,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-67.3
$GPS2,080359,4739.308,-12252.421,15,4.0,34,18.3
$SPEED_LIMITS,0.192,0.222
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.037,0.219
$KALMAN_X,348.8,125.9,219.8,28.1,83.5
$KALMAN_Y,-118.9,105.8,51.9,-602.4,-145.2
$MHEAD_RNG_PITCHd_Wd,332.0,295,-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,-97.8,0.0,0.0,0,98,0.00,0.00,-66.57,0.000,2,0.000,0.000,134,2146,3160
$GC,102,-2.10,-97.8,2.1,-4.1,11,145,14.65,2.62,-18.15,0.000,4,0.206,0.070,2444,743,3680
$GC,396,-2.10,-97.8,26.7,-8.9,50,403,0.00,2.47,0.00,0.000,6,0.000,0.039,2444,2156,3683
$GC,592,-2.10,-97.8,43.3,-9.0,66,596,0.00,2.58,0.00,0.000,4,0.000,0.060,2443,750,3683
$GC,850,-2.10,-97.8,67.8,-9.6,85,854,0.00,2.47,0.00,0.000,6,0.000,0.040,2443,2156,3683
$GC,1046,-2.10,-97.8,86.1,-9.1,100,1050,0.00,2.60,0.00,0.000,4,0.000,0.061,2444,745,3683
$STATE,1196,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1196,begin apogee
$GC,1205,-0.42,0.0,100.4,8.6,111,1325,1.83,0.00,114.07,0.650,6,0.115,0.000,2808,2349,3281
$STATE,1326,end apogee,CONTROL_FINISHED_OK
$STATE,1326,begin climb
$GC,1331,2.10,97.8,102.4,0.0,121,1455,2.47,2.67,112.72,0.625,4,0.052,0.068,3366,3760,2882
$GC,1707,2.10,97.8,53.1,15.5,150,1711,0.00,2.50,0.00,0.000,6,0.000,0.041,3366,2350,2881
$GC,1909,2.10,97.8,24.7,13.6,166,1913,0.00,2.62,0.00,0.000,4,0.000,0.064,3366,3765,2881
$STATE,2098,end climb,SURFACE_DEPTH_REACHED
$STATE,2098,begin surface coast
$FINISH,0.9,1.020690
$STATE,2132,end surface coast,CONTROL_FINISHED_OK
$STATE,2132,begin surface
$SM_CCo,2164,136.95,0.576,0,0,1649,400.08
$SM_GC,0.91,0.00,0.00,136.95,0.000,0.000,0.576,133,2139,1649,-12.75,-0.31,400.08
$IRIDIUM_FIX,4722.92,-12253.53,270907,111122
$TT8_MAMPS,0.066729
$HUMID,2171
$INTERNAL_PRESSURE,11.5043
$TCM_TEMP,19.70
$XPDR_PINGS,61
$24V_AH,23.9,17.714
$10V_AH,10.1,10.231
$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,34.325,26.375,226.800,136.950,0.000,155.362,189.257,256.854,15.750,8.310,3344.690,35.615,374.505,1240.168,443.113,445.332,765.370,33.325,692.987,0.000,406.218,0.000,4.057
$DEVICE_MAMPS,205.556,69.797,649.649,576.017,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,129.004,0.000,0.000,0.000,0.000,0.000,0.000,3353.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6466,196
$CFSIZE,260034560,256503808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,084435,4739.124,-12252.759,10,2.8,29,18.3