version: 66.02
glider: 116
mission: 6
dive: 132
start: 10 1 107 20 17 11
data:
$ID,116
$MISSION,6
$DIVE,132
$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,-32125.4
$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,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
$GPS1,200921,4738.801,-12253.400,11,1.6,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-64.9
$GPS2,201602,4738.833,-12253.271,13,1.4,30,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.145,-0.023
$KALMAN_X,16846.3,181.4,30.1,-16958.1,271.1
$KALMAN_Y,12627.7,60.4,111.1,-12639.9,118.7
$MHEAD_RNG_PITCHd_Wd,242.6,100,-26.6,-8.333
$D_GRID,138
$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,-2.28,-49.4,0.0,0.0,0,103,0.00,0.00,-70.75,0.000,2,0.000,0.000,134,1006,3183
$GC,107,-2.32,-87.2,2.0,-4.0,12,143,14.50,0.00,-18.70,0.000,6,0.209,0.000,2392,1005,3637
$GC,210,-2.34,-104.1,6.3,-6.4,28,217,0.00,1.70,-1.75,0.000,4,0.000,0.112,2393,165,3708
$GC,270,-2.34,-104.1,11.0,-8.6,37,276,0.00,1.52,0.00,0.000,6,0.000,0.047,2392,1004,3708
$GC,343,-2.34,-104.1,17.5,-9.4,48,349,0.00,2.50,0.00,0.000,4,0.000,0.042,2392,2420,3708
$GC,599,-2.34,-104.1,41.3,-9.1,69,606,0.00,2.58,0.00,0.000,6,0.000,0.051,2392,999,3709
$GC,796,-2.34,-104.1,59.3,-10.0,85,800,0.00,2.50,0.00,0.000,4,0.000,0.041,2392,2415,3709
$GC,937,-2.34,-104.1,72.1,-8.7,95,941,0.00,2.58,0.00,0.000,6,0.000,0.052,2392,995,3708
$GC,1139,-2.34,-104.1,92.2,-10.3,111,1140,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,995,3709
$STATE,1225,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1225,begin apogee
$GC,1234,-0.42,0.0,100.9,9.8,118,1364,2.15,0.00,123.55,0.649,6,0.123,0.000,2809,2509,3282
$STATE,1367,end apogee,CONTROL_FINISHED_OK
$STATE,1367,begin climb
$GC,1370,2.34,104.1,103.2,0.0,129,1506,2.72,2.67,121.57,0.621,4,0.056,0.073,3417,3883,2855
$GC,1559,2.34,104.1,78.3,18.7,144,1563,0.00,2.47,0.00,0.000,6,0.000,0.038,3418,2485,2855
$GC,1754,2.34,104.1,44.4,17.1,159,1759,0.00,2.65,0.00,0.000,4,0.000,0.067,3418,3894,2855
$GC,1855,2.34,104.1,26.4,17.8,166,1859,0.00,2.42,0.00,0.000,6,0.000,0.037,3418,2509,2856
$STATE,2009,end climb,SURFACE_DEPTH_REACHED
$STATE,2010,begin surface coast
$FINISH,0.2,1.009657
$STATE,2017,end surface coast,CONTROL_FINISHED_OK
$STATE,2017,begin surface
$SM_CCo,2051,131.32,0.568,0,0,1650,400.08
$SM_GC,0.89,0.00,0.00,131.32,0.000,0.000,0.568,137,1003,1650,-12.73,0.06,400.08
$IRIDIUM_FIX,4722.92,-12251.79,011007,232300
$TT8_MAMPS,0.067496
$HUMID,2134
$INTERNAL_PRESSURE,11.4653
$TCM_TEMP,19.70
$XPDR_PINGS,117
$24V_AH,23.9,30.368
$10V_AH,10.1,18.560
$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,34.600,29.125,245.125,131.325,0.000,37.782,37.401,164.439,29.750,4.150,2676.850,30.151,358.353,974.197,461.945,404.837,413.197,33.345,707.330,0.000,368.171,0.000,4.056
$DEVICE_MAMPS,209.391,111.982,648.882,567.580,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,122.427,0.000,0.000,0.000,0.000,0.000,0.000,2681.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3335,187
$CFSIZE,260034560,253161472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,205437,4738.853,-12253.406,11,1.6,27,18.3