version: 66.02
glider: 116
mission: 6
dive: 50
start: 9 28 107 7 59 7
data:
$ID,116
$MISSION,6
$DIVE,50
$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,-30090.055
$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,15
$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
$GPS1,074811,4738.952,-12252.606,9,2.3,28,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-65.3
$GPS2,075802,4738.935,-12252.737,12,1.4,17,18.3
$SPEED_LIMITS,0.289,0.301
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.301,-0.011
$KALMAN_X,1574.1,893.0,379.0,-2074.0,42.6
$KALMAN_Y,429.2,262.6,123.8,-470.8,-39.4
$MHEAD_RNG_PITCHd_Wd,249.7,754,-26.8,-16.667
$D_GRID,131
$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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,31,-2.41,-146.6,0.0,0.0,0,99,0.00,0.00,-66.25,0.000,2,0.000,0.000,136,987,3136
$GC,103,-2.41,-146.6,2.2,-5.4,11,147,14.88,1.73,-22.25,0.000,4,0.223,0.143,2376,163,3878
$GC,397,-2.41,-146.6,34.0,-11.9,47,404,0.00,1.52,0.00,0.000,6,0.000,0.048,2376,1002,3880
$GC,594,-2.41,-146.6,56.5,-11.9,63,598,0.00,1.67,0.00,0.000,4,0.000,0.098,2376,172,3880
$GC,851,-2.41,-146.6,87.7,-11.8,82,857,0.00,1.50,0.00,0.000,6,0.000,0.048,2376,999,3880
$STATE,971,end dive,TARGET_DEPTH_EXCEEDED
$STATE,971,begin apogee
$GC,980,-0.42,0.0,101.2,11.4,92,1158,2.25,0.00,170.30,0.637,6,0.127,0.000,2811,2516,3281
$STATE,1159,end apogee,CONTROL_FINISHED_OK
$STATE,1159,begin climb
$GC,1161,2.41,146.6,105.5,0.0,107,1340,2.78,2.72,168.43,0.610,4,0.054,0.077,3434,3895,2683
$GC,1359,2.41,146.6,80.6,18.6,122,1366,0.00,2.50,0.00,0.000,6,0.000,0.039,3434,2500,2683
$GC,1555,2.41,146.6,43.9,19.0,138,1559,0.00,2.53,0.00,0.000,4,0.000,0.054,3434,1103,2683
$GC,1689,2.41,146.6,18.9,19.4,147,1696,0.00,2.53,0.00,0.000,6,0.000,0.042,3434,2519,2683
$STATE,1799,end climb,SURFACE_DEPTH_REACHED
$STATE,1799,begin surface coast
$FINISH,1.1,1.020359
$STATE,1820,end surface coast,CONTROL_FINISHED_OK
$STATE,1820,begin surface
$SM_CCo,1855,111.65,0.565,0,0,1650,400.08
$SM_GC,0.85,0.00,0.00,111.65,0.000,0.000,0.565,138,1004,1650,-12.73,0.11,400.08
$IRIDIUM_FIX,4719.74,-11842.76,280907,111102
$TT8_MAMPS,0.067496
$HUMID,2161
$INTERNAL_PRESSURE,11.5043
$TCM_TEMP,19.90
$XPDR_PINGS,23
$24V_AH,23.9,20.837
$10V_AH,10.1,12.113
$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,36.250,22.250,338.725,111.650,0.000,0.000,0.000,0.000,6.250,12.450,1995.550,17.706,304.034,793.377,512.598,349.977,96.075,33.325,750.572,0.000,342.557,0.000,4.054
$DEVICE_MAMPS,223.197,143.429,636.610,565.279,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,107.926,0.000,0.000,0.000,0.000,0.000,0.000,2008.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3297,167
$CFSIZE,260034560,255754240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,083244,4738.864,-12252.974,8,1.5,13,18.3