version: 66.02
glider: 116
mission: 6
dive: 105
start: 9 30 107 21 38 13
data:
$ID,116
$MISSION,6
$DIVE,105
$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,-31484.389
$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,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
$GPS1,213033,4739.149,-12253.043,11,1.3,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-63.1
$GPS2,213703,4739.212,-12252.885,10,1.9,10,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.169,-0.176
$KALMAN_X,7979.8,281.1,418.1,-8100.1,60.8
$KALMAN_Y,7132.3,526.7,322.8,-7125.9,30.4
$MHEAD_RNG_PITCHd_Wd,205.4,849,-14.6,-8.333
$D_GRID,125
$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,27,begin dive
$GC,31,-1.40,-146.6,0.0,0.0,0,116,0.00,0.00,-82.70,0.000,2,0.000,0.000,134,1010,3447
$GC,120,-1.40,-146.6,2.1,-2.4,14,156,15.70,0.00,-13.88,0.000,6,0.209,0.000,2594,1010,3880
$GC,222,-1.40,-146.6,8.1,-6.7,30,229,0.00,2.50,0.00,0.000,4,0.000,0.043,2594,2418,3880
$GC,479,-1.40,-146.6,26.9,-7.1,62,486,0.00,2.58,0.00,0.000,6,0.000,0.051,2594,1001,3880
$GC,676,-1.40,-146.6,41.3,-7.4,78,680,0.00,2.53,0.00,0.000,4,0.000,0.042,2594,2423,3881
$GC,933,-1.40,-146.6,60.0,-6.7,97,939,0.00,2.58,0.00,0.000,6,0.000,0.051,2594,1002,3881
$GC,1129,-1.40,-146.6,74.2,-7.5,113,1133,0.00,2.53,0.00,0.000,4,0.000,0.041,2594,2423,3881
$GC,1328,-1.40,-146.6,87.1,-6.2,128,1332,0.00,2.60,0.00,0.000,6,0.000,0.051,2593,995,3881
$GC,1525,-1.40,-146.6,99.6,-6.2,143,1530,0.00,2.53,0.00,0.000,4,0.000,0.041,2594,2421,3881
$STATE,1535,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1536,begin apogee
$GC,1543,-0.42,0.0,100.4,6.0,144,1721,1.08,0.00,172.82,0.650,6,0.095,0.000,2810,2515,3281
$STATE,1722,end apogee,CONTROL_FINISHED_OK
$STATE,1723,begin climb
$GC,1725,1.40,146.6,102.2,0.0,159,1907,1.83,2.65,171.27,0.619,4,0.061,0.050,3213,1084,2683
$GC,1953,1.40,146.6,82.0,11.6,178,1957,0.00,2.58,0.00,0.000,6,0.000,0.042,3213,2512,2683
$GC,2148,1.40,146.6,60.2,11.1,193,2150,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2512,2683
$GC,2340,1.40,146.6,38.8,11.6,208,2344,0.00,2.62,0.00,0.000,4,0.000,0.077,3213,3894,2682
$GC,2425,1.40,146.6,28.3,11.9,214,2430,0.00,2.47,0.00,0.000,6,0.000,0.038,3213,2488,2683
$GC,2626,1.40,146.6,6.9,11.5,238,2632,0.00,2.65,0.00,0.000,4,0.000,0.071,3213,3890,2683
$STATE,2663,end climb,SURFACE_DEPTH_REACHED
$STATE,2663,begin surface coast
$FINISH,0.1,1.011001
$STATE,2678,end surface coast,CONTROL_FINISHED_OK
$STATE,2678,begin surface
$SM_CCo,2713,112.38,0.576,0,0,1649,400.08
$SM_GC,0.66,0.00,0.00,112.38,0.000,0.000,0.576,136,1012,1649,-12.74,0.34,400.08
$IRIDIUM_FIX,4722.92,-12251.79,011007,000043
$TT8_MAMPS,0.066729
$HUMID,2126
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,19.80
$XPDR_PINGS,159
$24V_AH,23.9,27.566
$10V_AH,10.1,16.801
$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,32.750,36.225,344.100,112.375,0.000,37.526,51.864,168.679,40.250,19.150,3310.850,10.958,446.986,1338.454,540.034,483.705,434.977,33.330,839.870,0.000,465.566,0.000,4.065
$DEVICE_MAMPS,208.624,76.700,649.649,576.017,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,161.511,0.000,0.000,0.000,0.000,0.000,0.000,3330.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6449,246
$CFSIZE,260034560,253943808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,222629,4739.084,-12253.109,14,3.4,33,18.3