version: 66.02
glider: 116
mission: 6
dive: 49
start: 9 28 107 6 59 5
data:
$ID,116
$MISSION,6
$DIVE,49
$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,20
$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,150
$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,-30027.951
$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,1000
$C_ROLL_CLIMB,2510
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,16
$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
$GPS1,065251,4738.875,-12252.228,13,1.2,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-66.3
$GPS2,065757,4738.872,-12252.274,13,1.9,13,18.3
$SPEED_LIMITS,0.289,0.301
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.301,0.014
$KALMAN_X,1569.7,972.2,466.7,-1675.9,6.7
$KALMAN_Y,381.9,225.9,134.2,-508.5,-20.2
$MHEAD_RNG_PITCHd_Wd,254.4,1321,-26.8,-16.667
$D_GRID,128
$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,-2.41,-146.6,0.0,0.0,0,91,0.00,0.00,-60.60,0.000,2,0.000,0.000,133,1985,2997
$GC,95,-2.41,-146.6,2.0,-4.8,10,145,14.40,0.80,-31.55,0.000,4,0.206,0.085,2376,2421,3879
$GC,397,-2.41,-146.6,34.8,-12.5,47,402,0.00,2.58,0.00,0.000,6,0.000,0.053,2376,1002,3880
$GC,593,-2.41,-146.6,60.9,-13.8,62,597,0.00,2.50,0.00,0.000,4,0.000,0.041,2376,2417,3881
$GC,850,-2.41,-146.6,96.1,-12.3,81,856,0.00,2.60,0.00,0.000,6,0.000,0.054,2376,1001,3881
$STATE,880,end dive,TARGET_DEPTH_EXCEEDED
$STATE,880,begin apogee
$GC,889,-0.42,0.0,100.2,13.2,84,1067,2.22,0.00,170.82,0.636,6,0.123,0.000,2809,2512,3281
$STATE,1068,end apogee,CONTROL_FINISHED_OK
$STATE,1068,begin climb
$GC,1071,2.41,146.6,104.0,0.0,99,1253,2.80,2.67,168.27,0.611,4,0.053,0.053,3434,1089,2684
$GC,1306,2.41,146.6,70.6,20.1,118,1310,0.00,2.58,0.00,0.000,6,0.000,0.043,3434,2519,2683
$GC,1501,2.41,146.6,32.0,19.3,133,1506,0.00,2.58,0.00,0.000,4,0.000,0.073,3434,3890,2682
$STATE,1664,end climb,SURFACE_DEPTH_REACHED
$STATE,1664,begin surface coast
$FINISH,1.0,1.020258
$STATE,1678,end surface coast,CONTROL_FINISHED_OK
$STATE,1678,begin surface
$SM_CCo,1715,115.85,0.567,0,0,1649,400.08
$SM_GC,0.76,0.00,0.00,115.85,0.000,0.000,0.567,136,986,1649,-12.74,-0.40,400.08
$IRIDIUM_FIX,4722.92,-12247.38,280907,101050
$TT8_MAMPS,0.065962
$HUMID,2185
$INTERNAL_PRESSURE,11.5141
$TCM_TEMP,19.80
$XPDR_PINGS,79
$24V_AH,24.0,20.708
$10V_AH,10.1,12.029
$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,35.725,24.350,339.100,115.850,0.000,33.232,31.730,123.862,20.250,12.450,2234.550,13.627,283.087,709.464,514.405,338.183,322.165,33.343,743.169,0.000,321.240,0.000,4.054
$DEVICE_MAMPS,205.556,85.137,635.843,566.813,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,99.982,0.000,0.000,0.000,0.000,0.000,0.000,2247.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3319,155
$CFSIZE,260034560,255803392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,073032,4738.979,-12252.375,14,2.0,19,18.3