version: 66.02
glider: 116
mission: 6
dive: 54
start: 9 28 107 10 51 55
data:
$ID,116
$MISSION,6
$DIVE,54
$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,-3
$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,-30234.309
$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,14
$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
$GPS1,104151,4738.028,-12253.792,10,1.8,10,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-66.6
$GPS2,105026,4738.013,-12253.875,11,1.4,16,18.3
$SPEED_LIMITS,0.289,0.301
$TGT_NAME,S2
$TGT_LATLONG,4737.767,-12254.100
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.098,-0.285
$KALMAN_X,1392.7,717.4,71.6,-2832.5,-138.4
$KALMAN_Y,150.1,120.1,-26.6,-1602.8,-73.7
$MHEAD_RNG_PITCHd_Wd,180.8,534,-26.8,-16.667
$D_GRID,147
$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,28,begin dive
$GC,31,-2.41,-146.6,0.0,0.0,0,104,0.00,0.00,-70.80,0.000,2,0.000,0.000,138,1002,3207
$GC,107,-2.41,-146.6,2.1,-4.9,12,151,14.98,1.70,-20.27,0.000,4,0.225,0.119,2375,167,3879
$GC,401,-2.41,-146.6,40.9,-14.2,46,408,0.00,1.50,0.00,0.000,6,0.000,0.047,2374,1001,3880
$GC,598,-2.41,-146.6,67.1,-13.5,62,602,0.00,2.47,0.00,0.000,4,0.000,0.044,2375,2413,3880
$GC,677,-2.41,-146.6,78.4,-14.6,68,682,0.00,2.58,0.00,0.000,6,0.000,0.054,2375,1002,3880
$STATE,835,end dive,TARGET_DEPTH_EXCEEDED
$STATE,835,begin apogee
$GC,844,-0.42,0.0,100.9,14.1,80,1022,2.25,0.00,170.73,0.639,6,0.125,0.000,2810,2508,3281
$STATE,1023,end apogee,CONTROL_FINISHED_OK
$STATE,1023,begin climb
$GC,1026,2.41,146.6,106.0,0.0,95,1209,2.80,2.70,169.70,0.609,4,0.054,0.075,3434,3891,2683
$GC,1294,2.41,146.6,64.1,20.6,116,1302,0.00,2.50,0.00,0.000,6,0.000,0.041,3434,2496,2683
$GC,1491,2.41,146.6,24.4,20.3,132,1495,0.00,2.62,0.00,0.000,4,0.000,0.068,3434,3892,2682
$GC,1592,2.41,146.6,4.7,17.5,144,1598,0.00,2.45,0.00,0.000,6,0.000,0.039,3434,2498,2683
$STATE,1609,end climb,SURFACE_DEPTH_REACHED
$STATE,1609,begin surface coast
$FINISH,0.3,1.020828
$STATE,1623,end surface coast,CONTROL_FINISHED_OK
$STATE,1623,begin surface
$SM_CCo,1657,111.18,0.561,0,0,1650,400.08
$SM_GC,0.69,0.00,0.00,111.18,0.000,0.000,0.561,134,1007,1650,-12.75,0.20,400.08
$IRIDIUM_FIX,4719.74,-12251.79,280907,141405
$TT8_MAMPS,0.066729
$HUMID,2179
$INTERNAL_PRESSURE,11.5043
$TCM_TEMP,19.70
$XPDR_PINGS,63
$24V_AH,24.0,21.258
$10V_AH,10.0,12.342
$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,35.350,24.025,340.425,111.175,0.000,71.745,156.807,105.208,16.250,4.150,2413.850,16.138,276.617,741.818,530.270,301.186,483.393,33.324,738.094,0.000,283.407,0.000,4.053
$DEVICE_MAMPS,225.498,118.885,638.911,561.444,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,95.586,0.000,0.000,0.000,0.000,0.000,0.000,2418.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3312,149
$CFSIZE,260034560,255668224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,112229,4737.783,-12254.064,9,3.2,28,18.3