version: 66.02
glider: 116
mission: 6
dive: 86
start: 9 29 107 15 16 32
data:
$ID,116
$MISSION,6
$DIVE,86
$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,-31045.133
$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,14
$R_STBD_OVSHOOT,21
$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
$GPS1,150829,4738.782,-12253.259,8,2.9,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-65.1
$GPS2,151523,4738.812,-12253.185,14,3.1,33,18.3
$SPEED_LIMITS,0.217,0.279
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.154,0.152
$KALMAN_X,3112.4,-160.2,-207.0,-2535.2,-39.3
$KALMAN_Y,2217.9,-129.5,-180.7,-1788.1,-41.4
$MHEAD_RNG_PITCHd_Wd,296.2,211,-27.5,-12.500
$D_GRID,136
$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,30,-2.40,-88.0,0.0,0.0,0,97,0.00,0.00,-64.72,0.000,2,0.000,0.000,136,1009,3077
$GC,100,-2.48,-146.6,2.2,-5.2,11,149,14.48,1.70,-26.02,0.000,4,0.215,0.113,2361,167,3879
$GC,388,-2.48,-146.6,36.3,-15.0,47,391,0.00,1.50,0.00,0.000,6,0.000,0.046,2360,1001,3880
$GC,590,-2.48,-146.6,65.1,-14.4,63,594,0.00,2.50,0.00,0.000,4,0.000,0.043,2360,2412,3881
$GC,681,-2.48,-146.6,77.8,-13.6,69,688,0.00,2.60,0.00,0.000,6,0.000,0.052,2360,1002,3881
$GC,877,-2.48,-146.6,106.0,-14.0,85,878,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1002,3880
$GC,1069,-2.48,-146.6,131.4,-13.7,100,1073,0.00,2.50,0.00,0.000,4,0.000,0.042,2359,2414,3880
$STATE,1099,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1099,begin apogee
$GC,1106,-0.42,0.0,136.2,14.1,102,1287,2.33,0.00,173.57,0.656,6,0.124,0.000,2805,2511,3281
$STATE,1289,end apogee,CONTROL_FINISHED_OK
$STATE,1289,begin climb
$GC,1291,2.48,146.6,139.2,0.0,117,1475,2.95,2.70,170.70,0.629,4,0.053,0.076,3448,3888,2683
$GC,1647,2.48,146.6,74.8,21.7,145,1651,0.00,2.47,0.00,0.000,6,0.000,0.041,3448,2496,2683
$GC,1842,2.48,146.6,35.1,20.3,160,1847,0.00,2.62,0.00,0.000,4,0.000,0.067,3448,3893,2682
$GC,1921,2.48,146.6,18.5,20.1,166,1928,0.00,2.45,0.00,0.000,6,0.000,0.039,3448,2498,2682
$GC,1994,2.48,146.6,4.3,19.3,177,2000,0.00,2.60,0.00,0.000,4,0.000,0.067,3448,3891,2684
$STATE,2011,end climb,SURFACE_DEPTH_REACHED
$STATE,2011,begin surface coast
$FINISH,0.2,1.020623
$STATE,2019,end surface coast,CONTROL_FINISHED_OK
$STATE,2019,begin surface
$SM_CCo,2055,113.75,0.568,0,0,1649,400.08
$SM_GC,0.88,0.00,0.00,113.75,0.000,0.000,0.568,136,1009,1649,-12.74,0.25,400.08
$IRIDIUM_FIX,4722.92,-12256.21,290907,181840
$TT8_MAMPS,0.068263
$HUMID,2164
$INTERNAL_PRESSURE,11.4848
$TCM_TEMP,19.70
$XPDR_PINGS,103
$24V_AH,23.9,24.934
$10V_AH,10.0,14.562
$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,35.175,29.150,344.275,113.750,0.000,38.509,46.217,176.396,27.000,34.480,2681.520,34.605,333.749,936.614,525.008,401.210,415.920,33.329,778.733,0.000,360.391,0.000,10.734
$DEVICE_MAMPS,214.760,112.749,655.785,568.347,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,117.415,0.000,0.000,0.000,0.000,0.000,0.000,2716.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3320,181
$CFSIZE,260034560,254717952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,155401,4739.036,-12253.455,38,1.2,43,18.3