version: 66.02
glider: 116
mission: 6
dive: 84
start: 9 29 107 13 46 39
data:
$ID,116
$MISSION,6
$DIVE,84
$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,-30991.689
$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,14
$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
$GPS1,133338,4738.813,-12253.353,15,1.4,32,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-66.4
$GPS2,134529,4738.839,-12253.313,17,3.3,36,18.3
$SPEED_LIMITS,0.217,0.279
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.045,0.212
$KALMAN_X,3348.3,-102.0,-230.5,-2969.5,-36.5
$KALMAN_Y,2357.2,-48.8,-198.9,-1940.1,-14.2
$MHEAD_RNG_PITCHd_Wd,353.8,58,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-2.40,-88.0,0.0,0.0,0,97,0.00,0.00,-66.53,0.000,2,0.000,0.000,133,1003,3136
$GC,101,-2.48,-146.6,2.2,-5.7,11,150,14.48,1.67,-25.98,0.000,4,0.215,0.113,2359,169,3880
$GC,159,-2.48,-146.6,4.5,-6.9,20,165,0.00,1.50,0.00,0.000,6,0.000,0.046,2359,1002,3879
$GC,232,-2.48,-146.6,13.9,-12.3,31,238,0.00,1.65,0.00,0.000,4,0.000,0.091,2359,162,3881
$GC,488,-2.48,-146.6,50.8,-14.6,54,495,0.00,1.50,0.00,0.000,6,0.000,0.044,2359,1000,3881
$GC,687,-2.48,-146.6,79.7,-14.6,70,690,0.00,1.62,0.00,0.000,4,0.000,0.089,2359,163,3881
$GC,944,-2.48,-146.6,118.6,-14.1,89,950,0.00,1.52,0.00,0.000,6,0.000,0.045,2359,1004,3881
$STATE,1089,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1089,begin apogee
$GC,1098,-0.42,0.0,138.2,14.0,101,1279,2.33,0.00,173.85,0.658,6,0.124,0.000,2810,2503,3281
$STATE,1281,end apogee,CONTROL_FINISHED_OK
$STATE,1281,begin climb
$GC,1283,2.48,146.6,141.2,0.0,116,1466,2.85,2.67,171.50,0.627,4,0.052,0.075,3450,3891,2682
$GC,1553,2.48,146.6,96.3,22.7,137,1559,0.00,2.47,0.00,0.000,6,0.000,0.041,3450,2494,2682
$GC,1748,2.48,146.6,55.7,20.5,153,1752,0.00,2.60,0.00,0.000,4,0.000,0.067,3450,3890,2682
$GC,1832,2.48,146.6,36.9,21.9,159,1840,0.00,2.47,0.00,0.000,6,0.000,0.039,3451,2504,2682
$STATE,2005,end climb,SURFACE_DEPTH_REACHED
$STATE,2005,begin surface coast
$FINISH,0.9,1.020582
$STATE,2013,end surface coast,CONTROL_FINISHED_OK
$STATE,2013,begin surface
$SM_CCo,2047,116.97,0.570,0,0,1650,400.08
$SM_GC,0.94,0.00,0.00,116.97,0.000,0.000,0.570,135,1010,1650,-12.74,0.28,400.08
$IRIDIUM_FIX,4722.92,-12251.79,290907,171744
$TT8_MAMPS,0.068263
$HUMID,2160
$INTERNAL_PRESSURE,11.4946
$TCM_TEMP,19.70
$XPDR_PINGS,71
$24V_AH,23.9,24.711
$10V_AH,10.1,14.443
$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,34.875,25.200,345.350,116.975,0.000,78.540,73.576,337.537,19.000,30.320,2976.680,36.924,332.090,967.502,539.774,415.084,651.287,33.343,792.806,0.000,368.551,0.000,8.732
$DEVICE_MAMPS,214.760,112.749,658.086,569.881,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,117.164,0.000,0.000,0.000,0.000,0.000,0.000,3007.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3305,181
$CFSIZE,260034560,254775296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,142333,4738.937,-12253.491,13,1.9,13,18.3