version: 66.02
glider: 116
mission: 6
dive: 128
start: 10 1 107 17 13 46
data:
$ID,116
$MISSION,6
$DIVE,128
$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,-32025.6
$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
$GPS1,170559,4738.904,-12253.376,11,2.3,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-64.7
$GPS2,171237,4738.946,-12253.273,15,1.3,31,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.099,-0.106
$KALMAN_X,15485.5,275.3,-2.4,-15663.8,165.8
$KALMAN_Y,12055.3,77.8,-102.5,-11663.1,109.8
$MHEAD_RNG_PITCHd_Wd,204.5,164,-26.9,-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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,31,-2.30,-48.4,0.0,0.0,0,110,0.00,0.00,-76.70,0.000,2,0.000,0.000,134,1013,3325
$GC,114,-2.35,-88.4,2.0,-3.7,13,145,14.60,2.55,-10.88,0.000,4,0.213,0.054,2388,2416,3643
$GC,181,-2.36,-102.8,5.9,-6.7,23,188,0.00,2.58,-1.55,0.000,6,0.000,0.049,2388,1001,3702
$GC,256,-2.37,-108.2,11.8,-7.7,34,262,0.00,0.00,-0.35,0.000,6,0.000,0.000,2389,1000,3723
$GC,329,-2.37,-108.2,19.6,-11.7,45,334,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1000,3723
$GC,398,-2.37,-108.2,27.9,-11.8,51,402,0.00,2.53,0.00,0.000,4,0.000,0.041,2388,2422,3724
$GC,655,-2.37,-108.2,55.5,-10.1,70,662,0.00,2.60,0.00,0.000,6,0.000,0.051,2388,992,3724
$GC,851,-2.37,-108.2,73.8,-8.9,86,855,0.00,2.53,0.00,0.000,4,0.000,0.041,2388,2421,3724
$GC,1056,-2.37,-108.2,92.0,-8.8,101,1060,0.00,2.60,0.00,0.000,6,0.000,0.051,2388,993,3724
$STATE,1148,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1148,begin apogee
$GC,1158,-0.42,0.0,100.3,8.9,108,1296,2.17,0.00,128.98,0.646,6,0.127,0.000,2808,2510,3281
$STATE,1299,end apogee,CONTROL_FINISHED_OK
$STATE,1299,begin climb
$GC,1302,2.37,108.2,101.1,0.0,120,1436,2.75,0.00,127.35,0.619,6,0.056,0.000,3424,2510,2839
$GC,1626,2.37,108.2,46.4,20.4,146,1630,0.00,2.60,0.00,0.000,4,0.000,0.070,3424,3894,2839
$GC,1731,2.37,108.2,24.2,20.1,153,1738,0.00,2.47,0.00,0.000,6,0.000,0.038,3424,2489,2839
$STATE,1859,end climb,SURFACE_DEPTH_REACHED
$STATE,1860,begin surface coast
$FINISH,0.5,1.020738
$STATE,1867,end surface coast,CONTROL_FINISHED_OK
$STATE,1868,begin surface
$SM_CCo,1902,131.65,0.565,0,0,1649,400.08
$SM_GC,0.86,0.00,0.00,131.65,0.000,0.000,0.565,133,1010,1649,-12.75,0.28,400.08
$IRIDIUM_FIX,4722.92,-12254.47,011007,202054
$TT8_MAMPS,0.066729
$HUMID,2139
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,19.70
$XPDR_PINGS,103
$24V_AH,23.9,29.964
$10V_AH,10.1,18.316
$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,34.775,25.925,256.325,131.650,0.000,41.332,36.560,167.756,26.250,13.050,2553.950,31.071,331.223,864.333,484.793,377.983,402.366,33.347,709.758,0.000,339.074,0.000,4.057
$DEVICE_MAMPS,213.226,69.797,645.814,564.512,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,111.999,0.000,0.000,0.000,0.000,0.000,0.000,2567.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3311,172
$CFSIZE,260034560,253280256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,174826,4738.884,-12253.341,9,1.5,9,18.3