version: 66.02
glider: 116
mission: 6
dive: 64
start: 9 28 107 19 39 34
data:
$ID,116
$MISSION,6
$DIVE,64
$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,40
$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,-30563.82
$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
$GPS1,193223,4738.855,-12252.802,11,2.6,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-67.8
$GPS2,193823,4738.881,-12252.758,15,2.7,34,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,S2
$TGT_LATLONG,4737.767,-12254.100
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.161,-0.183
$KALMAN_X,2734.6,339.5,316.1,-2645.3,189.4
$KALMAN_Y,975.3,100.5,209.8,-1037.5,197.1
$MHEAD_RNG_PITCHd_Wd,203.0,2657,-14.6,-8.333
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-1.40,-146.6,0.0,0.0,0,96,0.00,0.00,-66.38,0.000,2,0.000,0.000,137,1010,3082
$GC,100,-1.40,-146.6,2.1,-4.9,11,150,15.93,1.67,-26.42,0.000,4,0.214,0.119,2595,168,3879
$GC,178,-1.40,-146.6,6.2,-8.1,23,184,0.00,1.52,0.00,0.000,6,0.000,0.049,2594,1004,3880
$GC,251,-1.40,-146.6,10.6,-5.4,34,257,0.00,2.50,0.00,0.000,4,0.000,0.043,2594,2418,3880
$GC,510,-1.40,-146.6,28.7,-7.4,64,516,0.00,2.58,0.00,0.000,6,0.000,0.052,2594,1001,3881
$GC,706,-1.40,-146.6,43.1,-7.3,80,710,0.00,2.50,0.00,0.000,4,0.000,0.042,2594,2414,3881
$GC,964,-1.40,-146.6,62.0,-7.0,99,968,0.00,2.55,0.00,0.000,6,0.000,0.053,2594,1000,3881
$GC,1166,-1.40,-146.6,76.0,-7.3,115,1170,0.00,2.53,0.00,0.000,4,0.000,0.042,2594,2420,3881
$GC,1424,-1.40,-146.6,93.7,-7.1,134,1428,0.00,2.60,0.00,0.000,6,0.000,0.053,2594,994,3881
$STATE,1517,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1517,begin apogee
$GC,1526,-0.42,0.0,100.6,7.3,141,1704,1.05,0.00,171.88,0.647,6,0.094,0.000,2808,2512,3282
$STATE,1705,end apogee,CONTROL_FINISHED_OK
$STATE,1705,begin climb
$GC,1707,1.40,146.6,103.6,0.0,156,1889,1.80,2.65,170.57,0.616,4,0.058,0.051,3209,1098,2683
$GC,1914,1.40,146.6,87.2,10.7,173,1921,0.00,2.58,0.00,0.000,6,0.000,0.042,3210,2511,2683
$GC,2111,1.40,146.6,66.0,10.4,189,2112,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2510,2683
$GC,2302,1.40,146.6,45.2,10.9,204,2303,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2511,2682
$GC,2491,1.40,146.6,24.1,11.2,219,2492,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2511,2682
$GC,2686,1.42,164.4,4.6,7.7,246,2704,0.00,0.00,14.27,0.635,6,0.000,0.000,3209,2511,2609
$STATE,2722,end climb,SURFACE_DEPTH_REACHED
$STATE,2722,begin surface coast
$FINISH,0.2,1.020254
$STATE,2760,end surface coast,CONTROL_FINISHED_OK
$STATE,2760,begin surface
$SM_CCo,2791,102.82,0.581,0,0,1649,400.08
$SM_GC,0.65,0.00,0.00,102.82,0.000,0.000,0.581,133,991,1649,-12.75,-0.25,400.08
$IRIDIUM_FIX,4719.74,-12254.47,280907,222204
$TT8_MAMPS,0.068263
$HUMID,2197
$INTERNAL_PRESSURE,11.5043
$TCM_TEMP,19.50
$XPDR_PINGS,161
$24V_AH,23.4,22.389
$10V_AH,10.1,13.053
$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,33.025,29.275,356.725,102.825,0.000,37.886,42.503,133.778,40.750,24.900,3379.100,34.998,459.412,1389.854,536.600,514.597,382.804,33.325,836.957,0.000,475.486,0.000,4.055
$DEVICE_MAMPS,213.993,118.885,646.581,580.619,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,168.696,0.000,0.000,0.000,0.000,0.000,0.000,3404.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6456,257
$CFSIZE,260034560,255361024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,202907,4738.746,-12253.119,36,1.2,42,18.3