version: 66.02
glider: 116
mission: 6
dive: 81
start: 9 29 107 11 25 14
data:
$ID,116
$MISSION,6
$DIVE,81
$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,-30907.086
$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,22
$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
$GPS1,111717,4738.848,-12253.323,14,2.9,33,18.3
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-68.0
$GPS2,112405,4738.843,-12253.393,13,3.2,32,18.3
$SPEED_LIMITS,0.217,0.279
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.166,0.139
$KALMAN_X,3361.1,18.2,8.6,-3436.6,-258.8
$KALMAN_Y,2188.5,117.0,24.2,-2150.7,-234.2
$MHEAD_RNG_PITCHd_Wd,31.8,86,-27.5,-12.500
$D_GRID,138
$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,-88.0,0.0,0.0,0,92,0.00,0.00,-60.58,0.000,2,0.000,0.000,137,1004,2986
$GC,96,-2.48,-146.6,2.1,-5.0,10,146,14.52,2.55,-29.12,0.000,4,0.216,0.052,2358,2413,3880
$GC,345,-2.48,-146.6,28.0,-12.9,44,349,0.00,2.58,0.00,0.000,6,0.000,0.051,2358,998,3881
$GC,540,-2.48,-146.6,54.2,-13.8,59,544,0.00,2.50,0.00,0.000,4,0.000,0.041,2358,2410,3881
$GC,612,-2.48,-146.6,64.4,-14.3,64,617,0.00,2.58,0.00,0.000,6,0.000,0.052,2358,1002,3881
$GC,807,-2.48,-146.6,92.7,-13.6,79,812,0.00,2.50,0.00,0.000,4,0.000,0.041,2359,2411,3881
$GC,986,-2.48,-146.6,116.2,-13.2,92,990,0.00,2.58,0.00,0.000,6,0.000,0.054,2359,997,3881
$STATE,1153,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1153,begin apogee
$GC,1162,-0.42,0.0,138.8,13.4,105,1344,2.33,0.00,173.88,0.658,6,0.126,0.000,2809,2506,3280
$STATE,1345,end apogee,CONTROL_FINISHED_OK
$STATE,1345,begin climb
$GC,1348,2.48,146.6,142.7,0.0,120,1531,2.88,0.00,171.88,0.630,6,0.053,0.000,3453,2506,2683
$GC,1722,2.48,146.6,78.8,20.7,150,1726,0.00,2.62,0.00,0.000,4,0.000,0.075,3453,3891,2683
$GC,1834,2.48,146.6,52.8,23.1,158,1839,0.00,2.47,0.00,0.000,6,0.000,0.041,3454,2492,2682
$GC,2033,2.48,146.6,11.8,20.2,176,2039,0.00,2.65,0.00,0.000,4,0.000,0.069,3455,3894,2682
$STATE,2083,end climb,SURFACE_DEPTH_REACHED
$STATE,2083,begin surface coast
$FINISH,1.1,1.020418
$STATE,2090,end surface coast,CONTROL_FINISHED_OK
$STATE,2090,begin surface
$SM_CCo,2127,114.57,0.569,0,0,1650,400.08
$SM_GC,0.80,0.00,0.00,114.57,0.000,0.000,0.569,138,1008,1650,-12.73,0.25,400.08
$IRIDIUM_FIX,4722.92,-12256.21,290907,141435
$TT8_MAMPS,0.067496
$HUMID,2164
$INTERNAL_PRESSURE,11.4946
$TCM_TEMP,19.70
$XPDR_PINGS,106
$24V_AH,23.4,24.363
$10V_AH,10.1,14.256
$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,35.050,31.075,345.750,114.575,0.000,40.054,36.208,181.906,27.750,34.470,2755.530,33.164,341.906,1000.867,543.361,381.197,411.736,33.335,771.889,0.000,342.193,0.000,8.733
$DEVICE_MAMPS,216.294,75.166,658.086,569.114,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,120.472,0.000,0.000,0.000,0.000,0.000,0.000,2790.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3297,185
$CFSIZE,260034560,254865408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,120341,4738.949,-12253.264,9,2.3,28,18.3