version: 66.02
glider: 116
mission: 6
dive: 127
start: 10 1 107 16 30 38
data:
$ID,116
$MISSION,6
$DIVE,127
$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,-31993.898
$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,23
$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
$GPS1,162247,4738.734,-12253.414,10,3.4,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-65.5
$GPS2,162929,4738.755,-12253.335,13,3.7,32,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.105,0.099
$KALMAN_X,15143.7,290.1,11.0,-15423.0,127.1
$KALMAN_Y,11959.4,86.7,-129.7,-11902.7,90.2
$MHEAD_RNG_PITCHd_Wd,295.1,208,-27.0,-8.333
$D_GRID,139
$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,27,begin dive
$GC,30,-2.31,-48.0,0.0,0.0,0,120,0.00,0.00,-83.38,0.000,6,0.000,0.000,136,1003,3478
$GC,125,-2.38,-107.1,2.2,-1.5,15,151,14.73,1.73,-6.65,0.000,4,0.219,0.112,2381,163,3719
$GC,368,-2.38,-107.1,27.8,-8.8,46,375,0.00,1.50,0.00,0.000,6,0.000,0.045,2381,993,3721
$GC,564,-2.38,-107.1,45.2,-8.9,62,569,0.00,2.50,0.00,0.000,4,0.000,0.042,2383,2411,3720
$GC,822,-2.38,-107.1,69.4,-9.9,81,826,0.00,2.58,0.00,0.000,6,0.000,0.051,2381,995,3721
$GC,1018,-2.38,-107.1,90.0,-10.7,96,1023,0.00,2.53,0.00,0.000,4,0.000,0.041,2381,2420,3721
$GC,1083,-2.38,-107.1,97.0,-11.1,101,1088,0.00,2.58,0.00,0.000,6,0.000,0.051,2381,1002,3721
$STATE,1113,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1113,begin apogee
$GC,1122,-0.42,0.0,100.5,11.0,103,1256,2.22,0.00,127.65,0.648,6,0.126,0.000,2811,2514,3281
$STATE,1259,end apogee,CONTROL_FINISHED_OK
$STATE,1259,begin climb
$GC,1262,2.38,107.1,103.5,0.0,114,1401,2.78,2.70,125.80,0.621,4,0.055,0.071,3429,3895,2844
$GC,1434,2.38,107.1,80.8,20.2,128,1438,0.00,2.47,0.00,0.000,6,0.000,0.038,3429,2494,2843
$GC,1629,2.38,107.1,43.9,19.1,143,1633,0.00,2.62,0.00,0.000,4,0.000,0.067,3429,3890,2843
$GC,1814,2.38,107.1,7.6,18.7,161,1821,0.00,2.42,0.00,0.000,6,0.000,0.038,3429,2507,2843
$STATE,1864,end climb,SURFACE_DEPTH_REACHED
$STATE,1864,begin surface coast
$FINISH,0.5,1.020936
$STATE,1888,end surface coast,CONTROL_FINISHED_OK
$STATE,1888,begin surface
$SM_CCo,1920,132.73,0.567,0,0,1649,400.08
$SM_GC,0.85,0.00,0.00,132.73,0.000,0.000,0.567,133,1013,1649,-12.75,0.37,400.08
$IRIDIUM_FIX,4719.74,-12254.47,011007,191917
$TT8_MAMPS,0.066729
$HUMID,2122
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,19.70
$XPDR_PINGS,109
$24V_AH,23.9,29.872
$10V_AH,10.1,18.260
$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,35.000,29.125,253.450,132.725,0.000,37.491,34.135,175.275,27.750,13.050,2580.950,33.231,329.168,890.297,467.195,391.826,405.005,33.342,703.249,0.000,349.806,0.000,4.066
$DEVICE_MAMPS,219.362,111.982,648.115,566.813,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,112.373,0.000,0.000,0.000,0.000,0.000,0.000,2594.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3319,172
$CFSIZE,260034560,253308928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,170559,4738.904,-12253.376,11,2.3,30,18.3