version: 66.02
glider: 116
mission: 6
dive: 74
start: 9 29 107 5 17 8
data:
$ID,116
$MISSION,6
$DIVE,74
$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,-30733.611
$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,18
$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
$GPS1,050907,4739.141,-12253.395,14,1.1,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-66.1
$GPS2,051556,4739.204,-12253.355,15,1.1,15,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.083,-0.229
$KALMAN_X,3766.3,115.6,-4.9,-3879.2,211.5
$KALMAN_Y,2467.3,291.0,-60.2,-1861.5,281.1
$MHEAD_RNG_PITCHd_Wd,181.7,625,-14.6,-8.333
$D_GRID,130
$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,-146.6,0.0,0.0,0,121,0.00,0.00,-90.35,0.000,2,0.000,0.000,134,992,3656
$GC,126,-1.40,-146.6,2.1,-0.9,15,151,16.08,0.00,-5.70,0.000,6,0.216,0.000,2593,991,3879
$GC,220,-1.40,-146.6,9.8,-5.1,29,225,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,991,3880
$GC,292,-1.40,-146.6,12.6,-3.1,40,298,0.00,2.53,0.00,0.000,4,0.000,0.041,2593,2419,3880
$GC,338,-1.40,-146.6,12.7,0.2,47,345,0.00,2.58,0.00,0.000,6,0.000,0.050,2592,1003,3881
$GC,411,-1.40,-146.6,13.6,-1.4,58,418,0.00,2.50,0.00,0.000,4,0.000,0.041,2593,2415,3881
$GC,465,-1.40,-146.6,14.5,-2.1,66,471,0.00,2.58,0.00,0.000,6,0.000,0.051,2592,995,3882
$GC,538,-1.40,-146.6,16.7,-3.1,77,543,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,995,3881
$GC,610,-1.40,-146.6,19.6,-3.9,88,616,0.00,2.53,0.00,0.000,4,0.000,0.041,2592,2417,3881
$GC,702,-1.40,-146.6,23.4,-3.8,96,707,0.00,2.58,0.00,0.000,6,0.000,0.051,2592,1002,3881
$GC,898,-1.40,-146.6,33.7,-6.0,111,902,0.00,2.50,0.00,0.000,4,0.000,0.041,2593,2416,3881
$GC,1082,-1.40,-146.6,44.5,-5.7,124,1089,0.00,2.58,0.00,0.000,6,0.000,0.051,2593,1000,3881
$GC,1279,-1.40,-146.6,57.4,-7.0,140,1283,0.00,2.53,0.00,0.000,4,0.000,0.041,2593,2424,3881
$GC,1417,-1.40,-146.6,66.9,-6.5,150,1422,0.00,2.60,0.00,0.000,6,0.000,0.051,2592,998,3882
$GC,1613,-1.40,-146.6,79.4,-6.7,165,1617,0.00,2.50,0.00,0.000,4,0.000,0.041,2592,2413,3881
$GC,1818,-1.40,-146.6,93.6,-8.5,180,1822,0.00,2.58,0.00,0.000,6,0.000,0.052,2592,1000,3881
$STATE,1905,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1905,begin apogee
$GC,1914,-0.42,0.0,100.7,8.0,187,2092,1.08,0.00,172.18,0.647,6,0.097,0.000,2810,2513,3281
$STATE,2093,end apogee,CONTROL_FINISHED_OK
$STATE,2093,begin climb
$GC,2096,1.40,146.6,105.8,0.0,202,2279,1.83,0.00,170.98,0.617,6,0.058,0.000,3209,2513,2683
$GC,2466,1.40,146.6,75.1,10.8,232,2470,0.00,2.62,0.00,0.000,4,0.000,0.077,3209,3895,2683
$GC,2512,1.40,146.6,70.1,11.8,235,2516,0.00,2.47,0.00,0.000,6,0.000,0.039,3209,2494,2683
$GC,2707,1.40,146.6,50.4,9.9,250,2708,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2492,2682
$GC,2900,1.40,146.6,33.3,8.7,265,2905,0.00,2.65,0.00,0.000,4,0.000,0.073,3209,3891,2682
$GC,2946,1.40,146.6,28.4,10.1,268,2950,0.00,2.45,0.00,0.000,6,0.000,0.040,3209,2504,2682
$GC,3147,1.43,168.7,11.0,7.5,291,3172,0.00,0.00,19.62,0.629,6,0.000,0.000,3209,2502,2593
$GC,3240,1.52,247.0,4.6,5.3,305,3278,0.12,0.00,34.85,0.600,2,0.068,0.000,3237,2502,2330
$STATE,3279,end climb,SURFACE_DEPTH_REACHED
$STATE,3279,begin surface coast
$FINISH,0.0,1.000914
$STATE,3306,end surface coast,CONTROL_FINISHED_OK
$STATE,3306,begin surface
$SM_CCo,3336,72.82,0.577,0,0,1649,400.08
$SM_GC,0.85,0.00,0.00,72.82,0.000,0.000,0.577,137,1009,1649,-12.73,0.25,400.08
$IRIDIUM_FIX,4722.92,-12256.21,290907,080819
$TT8_MAMPS,0.066729
$HUMID,2209
$INTERNAL_PRESSURE,11.4848
$TCM_TEMP,19.60
$XPDR_PINGS,193
$24V_AH,23.9,23.545
$10V_AH,10.1,13.801
$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,33.400,46.275,397.625,72.825,0.000,39.996,36.586,198.981,48.750,53.040,3939.960,15.108,561.652,1655.884,563.149,593.240,475.204,33.335,932.174,0.000,569.922,0.000,4.057
$DEVICE_MAMPS,216.294,76.700,647.348,576.784,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,207.113,0.000,0.000,0.000,0.000,0.000,0.000,3993.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,9569,315
$CFSIZE,260034560,255041536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,061445,4739.035,-12253.435,10,1.2,11,18.3