version: 66.02
glider: 116
mission: 6
dive: 78
start: 9 29 107 9 8 18
data:
$ID,116
$MISSION,6
$DIVE,78
$D_SURF,2
$D_FLARE,2
$D_TGT,150
$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,310
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,14400
$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,-30839.475
$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,16
$R_STBD_OVSHOOT,17
$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
$GPS1,085733,4738.840,-12253.411,12,1.6,12,18.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-66.2
$GPS2,090708,4738.757,-12253.430,11,1.7,16,18.3
$SPEED_LIMITS,0.217,0.279
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.106,0.189
$KALMAN_X,3959.5,115.6,198.7,-4368.0,-11.1
$KALMAN_Y,2636.2,279.9,210.8,-3102.7,-33.8
$MHEAD_RNG_PITCHd_Wd,10.9,236,-27.5,-12.500
$D_GRID,139
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,30,-2.40,-88.0,0.0,0.0,0,98,0.00,0.00,-66.57,0.000,2,0.000,0.000,135,1001,3116
$GC,102,-2.48,-146.6,2.1,-5.1,11,151,14.73,2.55,-25.12,0.000,4,0.221,0.053,2359,2415,3879
$GC,180,-2.48,-146.6,8.3,-12.9,23,186,0.00,2.58,0.00,0.000,6,0.000,0.050,2360,998,3880
$GC,253,-2.48,-146.6,17.0,-12.0,34,259,0.00,1.65,0.00,0.000,4,0.000,0.097,2360,160,3880
$GC,398,-2.48,-146.6,37.3,-13.7,47,401,0.00,1.52,0.00,0.000,6,0.000,0.045,2360,1005,3880
$GC,600,-2.48,-146.6,66.3,-14.9,63,604,0.00,2.50,0.00,0.000,4,0.000,0.043,2360,2413,3881
$GC,742,-2.48,-146.6,85.9,-14.3,73,746,0.00,2.58,0.00,0.000,6,0.000,0.052,2360,996,3880
$GC,937,-2.48,-146.6,113.8,-14.2,88,942,0.00,2.50,0.00,0.000,4,0.000,0.042,2360,2412,3881
$GC,1002,-2.48,-146.6,122.7,-13.4,92,1009,0.00,2.60,0.00,0.000,6,0.000,0.053,2360,1002,3880
$STATE,1120,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1120,begin apogee
$GC,1129,-0.42,0.0,139.3,13.9,102,1311,2.33,0.00,173.98,0.658,6,0.126,0.000,2809,2515,3281
$STATE,1312,end apogee,CONTROL_FINISHED_OK
$STATE,1312,begin climb
$GC,1315,2.48,146.6,143.9,0.0,117,1497,2.88,2.65,171.82,0.629,4,0.054,0.076,3450,3890,2683
$GC,1543,2.48,146.6,109.0,22.8,135,1550,0.00,2.50,0.00,0.000,6,0.000,0.039,3450,2493,2683
$GC,1739,2.48,146.6,67.9,21.2,151,1744,0.00,2.62,0.00,0.000,4,0.000,0.067,3450,3890,2682
$GC,1830,2.48,146.6,47.4,22.8,157,1837,0.00,2.47,0.00,0.000,6,0.000,0.038,3450,2502,2682
$GC,2030,2.48,146.6,5.6,21.6,178,2036,0.00,2.62,0.00,0.000,4,0.000,0.067,3450,3890,2682
$STATE,2047,end climb,SURFACE_DEPTH_REACHED
$STATE,2047,begin surface coast
$FINISH,0.7,1.021048
$STATE,2055,end surface coast,CONTROL_FINISHED_OK
$STATE,2055,begin surface
$SM_CCo,2091,112.53,0.568,0,0,1649,400.08
$SM_GC,0.74,0.00,0.00,112.53,0.000,0.000,0.568,135,1010,1649,-12.74,0.28,400.08
$IRIDIUM_FIX,4722.92,-12247.38,290907,121215
$TT8_MAMPS,0.065962
$HUMID,2147
$INTERNAL_PRESSURE,11.4848
$TCM_TEMP,19.60
$XPDR_PINGS,92
$24V_AH,23.9,24.025
$10V_AH,9.8,14.076
$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,35.150,39.425,345.800,112.525,0.000,75.570,113.390,192.336,24.250,34.480,2856.520,16.077,337.295,1008.314,540.172,383.245,539.924,33.328,797.994,0.000,359.424,0.000,8.731
$DEVICE_MAMPS,220.896,97.409,658.086,568.347,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,117.782,0.000,0.000,0.000,0.000,0.000,0.000,2891.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3323,182
$CFSIZE,260034560,254947328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,094607,4738.892,-12253.434,13,1.1,29,18.3