version: 66.02
glider: 116
mission: 6
dive: 108
start: 10 1 107 0 15 12
data:
$ID,116
$MISSION,6
$DIVE,108
$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,-31543.365
$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,13
$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
$GPS1,000409,4738.859,-12253.268,14,2.0,14,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-63.8
$GPS2,001402,4738.930,-12253.048,11,1.6,11,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.177,-0.037
$KALMAN_X,8980.4,165.4,333.9,-9107.1,75.2
$KALMAN_Y,7870.0,286.4,227.8,-8047.4,-25.9
$MHEAD_RNG_PITCHd_Wd,239.9,375,-21.3,-8.333
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-1.87,-75.2,0.0,0.0,0,98,0.00,0.00,-66.62,0.000,2,0.000,0.000,135,1009,3073
$GC,102,-1.91,-110.6,2.0,-5.7,11,145,15.65,0.00,-22.45,0.000,6,0.222,0.000,2482,1009,3733
$GC,211,-1.92,-115.7,8.4,-8.0,28,217,0.00,0.00,-0.40,0.000,6,0.000,0.000,2483,1009,3753
$GC,284,-1.95,-141.9,12.9,-6.4,39,291,0.00,1.73,-1.90,0.000,4,0.000,0.116,2483,165,3863
$GC,422,-1.95,-141.9,27.4,-10.1,55,429,0.00,1.52,0.00,0.000,6,0.000,0.048,2483,1000,3864
$GC,619,-1.95,-141.9,45.6,-9.6,71,623,0.00,2.50,0.00,0.000,4,0.000,0.044,2483,2413,3863
$GC,784,-1.95,-141.9,61.4,-8.6,83,788,0.00,2.60,0.00,0.000,6,0.000,0.054,2483,992,3864
$GC,979,-1.95,-141.9,81.1,-10.3,98,983,0.00,2.53,0.00,0.000,4,0.000,0.042,2483,2417,3864
$GC,1058,-1.95,-141.9,88.5,-9.5,103,1064,0.00,2.60,0.00,0.000,6,0.000,0.053,2483,992,3864
$STATE,1178,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1178,begin apogee
$GC,1187,-0.42,0.0,100.1,9.7,113,1364,1.65,0.00,167.88,0.652,6,0.115,0.000,2810,2517,3281
$STATE,1365,end apogee,CONTROL_FINISHED_OK
$STATE,1365,begin climb
$GC,1368,1.95,141.9,103.8,0.0,128,1541,2.33,0.00,165.52,0.617,6,0.060,0.000,3331,2517,2702
$GC,1730,1.95,141.9,56.3,15.8,157,1734,0.00,2.62,0.00,0.000,4,0.000,0.077,3330,3896,2703
$GC,1908,1.95,141.9,24.9,17.1,170,1912,0.00,2.47,0.00,0.000,6,0.000,0.038,3331,2491,2702
$STATE,2063,end climb,SURFACE_DEPTH_REACHED
$STATE,2063,begin surface coast
$FINISH,0.7,1.020539
$STATE,2077,end surface coast,CONTROL_FINISHED_OK
$STATE,2077,begin surface
$SM_CCo,2110,115.07,0.569,0,0,1650,400.08
$SM_GC,0.75,0.00,0.00,115.07,0.000,0.000,0.569,134,1010,1650,-12.75,0.25,400.08
$IRIDIUM_FIX,4722.92,-12251.79,011007,040415
$TT8_MAMPS,0.06903
$HUMID,2127
$INTERNAL_PRESSURE,11.4946
$TCM_TEMP,19.70
$XPDR_PINGS,96
$24V_AH,23.9,27.882
$10V_AH,10.1,16.993
$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,35.125,24.075,333.400,115.075,0.000,76.536,68.741,248.500,24.500,14.800,2933.200,11.963,355.441,1020.275,536.976,376.261,560.125,33.325,773.167,0.000,358.898,0.000,4.056
$DEVICE_MAMPS,222.430,115.817,651.950,569.114,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,125.768,0.000,0.000,0.000,0.000,0.000,0.000,2948.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6452,193
$CFSIZE,260034560,253861888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,005322,4738.917,-12253.276,7,2.1,26,18.3