version: 66.02
glider: 116
mission: 6
dive: 55
start: 9 28 107 11 29 5
data:
$ID,116
$MISSION,6
$DIVE,55
$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,-30269.438
$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,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
$GPS1,112229,4737.783,-12254.064,9,3.2,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-66.5
$GPS2,112805,4737.782,-12254.105,14,3.2,33,18.3
$SPEED_LIMITS,0.289,0.301
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.197,0.228
$KALMAN_X,1365.8,662.8,-10.9,-2956.6,-134.7
$KALMAN_Y,125.0,98.5,-63.6,-1946.8,-60.5
$MHEAD_RNG_PITCHd_Wd,22.6,2228,-26.8,-16.667
$D_GRID,145
$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,-2.41,-146.6,0.0,0.0,0,102,0.00,0.00,-72.47,0.000,2,0.000,0.000,135,1007,3215
$GC,106,-2.41,-146.6,2.0,-4.8,12,150,14.98,2.50,-21.17,0.000,4,0.225,0.054,2374,2421,3877
$GC,400,-2.41,-146.6,35.8,-12.1,47,407,0.00,2.60,0.00,0.000,6,0.000,0.052,2374,998,3878
$GC,597,-2.41,-146.6,61.9,-13.8,63,601,0.00,2.50,0.00,0.000,4,0.000,0.041,2374,2417,3878
$GC,695,-2.41,-146.6,75.2,-13.5,70,702,0.00,2.58,0.00,0.000,6,0.000,0.053,2374,1001,3878
$STATE,877,end dive,TARGET_DEPTH_EXCEEDED
$STATE,877,begin apogee
$GC,885,-0.42,0.0,101.5,14.7,85,1063,2.25,0.00,170.18,0.639,6,0.127,0.000,2809,2511,3281
$STATE,1064,end apogee,CONTROL_FINISHED_OK
$STATE,1064,begin climb
$GC,1067,2.41,146.6,107.8,0.0,100,1248,2.80,2.67,169.15,0.614,4,0.054,0.074,3431,3883,2683
$GC,1275,2.41,146.6,81.5,20.5,117,1280,0.00,2.47,0.00,0.000,6,0.000,0.040,3432,2491,2683
$GC,1471,2.41,146.6,42.5,19.9,132,1475,0.00,2.65,0.00,0.000,4,0.000,0.069,3432,3896,2683
$GC,1591,2.41,146.6,16.7,22.6,141,1597,0.00,2.45,0.00,0.000,6,0.000,0.039,3432,2498,2683
$GC,1664,2.41,146.6,2.9,16.9,152,1670,0.00,2.60,0.00,0.000,4,0.000,0.067,3432,3891,2683
$STATE,1674,end climb,SURFACE_DEPTH_REACHED
$STATE,1674,begin surface coast
$FINISH,0.1,1.020827
$STATE,1688,end surface coast,CONTROL_FINISHED_OK
$STATE,1688,begin surface
$SM_CCo,1724,111.47,0.564,0,0,1650,400.08
$SM_GC,0.65,0.00,0.00,111.47,0.000,0.000,0.564,133,1000,1650,-12.75,0.00,400.08
$IRIDIUM_FIX,4719.74,-12256.21,280907,141430
$TT8_MAMPS,0.067496
$HUMID,2173
$INTERNAL_PRESSURE,11.5043
$TCM_TEMP,19.60
$XPDR_PINGS,81
$24V_AH,23.9,21.357
$10V_AH,10.1,12.393
$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,35.350,31.050,339.325,111.475,0.000,40.880,35.324,118.641,20.750,16.600,2276.400,34.500,280.160,719.352,527.782,340.511,325.194,33.322,751.192,0.000,303.299,0.000,4.055
$DEVICE_MAMPS,224.731,73.632,638.911,563.745,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,100.407,0.000,0.000,0.000,0.000,0.000,0.000,2293.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3320,156
$CFSIZE,260034560,255643648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,120026,4737.900,-12254.017,8,1.8,8,18.3