version: 66.02
glider: 116
mission: 6
dive: 133
start: 10 1 107 21 2 12
data:
$ID,116
$MISSION,6
$DIVE,133
$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,-32136.957
$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,20
$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
$GPS1,205437,4738.853,-12253.406,11,1.6,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-66.9
$GPS2,210102,4738.886,-12253.304,10,1.9,10,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.130,-0.063
$KALMAN_X,17134.3,164.7,64.7,-17303.7,254.3
$KALMAN_Y,12748.5,54.6,147.3,-12694.5,106.0
$MHEAD_RNG_PITCHd_Wd,226.0,50,-27.0,-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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,31,-2.31,-48.0,0.0,0.0,0,104,0.00,0.00,-70.75,0.000,2,0.000,0.000,137,1005,3189
$GC,108,-2.35,-79.1,2.1,-4.7,12,144,14.43,0.00,-16.23,0.000,6,0.209,0.000,2388,1002,3603
$GC,211,-2.36,-92.8,6.5,-6.7,28,217,0.00,0.00,-1.42,0.000,6,0.000,0.000,2388,1002,3660
$GC,284,-2.38,-104.7,11.2,-7.0,39,290,0.00,2.50,-0.90,0.000,4,0.000,0.051,2388,2420,3709
$GC,540,-2.38,-104.7,36.8,-8.7,65,547,0.00,2.60,0.00,0.000,6,0.000,0.051,2389,1002,3710
$GC,737,-2.38,-104.7,55.5,-10.1,81,741,0.00,2.50,0.00,0.000,4,0.000,0.040,2389,2422,3710
$GC,968,-2.38,-104.7,77.7,-9.3,98,973,0.00,2.60,0.00,0.000,6,0.000,0.051,2388,992,3710
$GC,1164,-2.38,-104.7,97.9,-10.3,113,1168,0.00,1.65,0.00,0.000,4,0.000,0.099,2389,165,3710
$STATE,1180,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1180,begin apogee
$GC,1191,-0.42,0.0,100.0,10.5,114,1321,2.17,0.00,124.25,0.647,6,0.123,0.000,2810,2518,3281
$STATE,1324,end apogee,CONTROL_FINISHED_OK
$STATE,1324,begin climb
$GC,1327,2.38,104.7,102.5,0.0,125,1463,2.75,2.62,122.38,0.619,4,0.054,0.072,3426,3890,2854
$GC,1495,2.38,104.7,79.6,20.5,138,1502,0.00,2.50,0.00,0.000,6,0.000,0.038,3426,2494,2854
$GC,1692,2.38,104.7,42.1,18.6,154,1696,0.00,2.62,0.00,0.000,4,0.000,0.067,3426,3891,2854
$STATE,1907,end climb,SURFACE_DEPTH_REACHED
$STATE,1907,begin surface coast
$FINISH,0.1,1.016800
$STATE,1915,end surface coast,CONTROL_FINISHED_OK
$STATE,1917,begin surface
$SM_CCo,1952,130.45,0.566,0,0,1649,400.08
$SM_GC,0.92,0.00,0.00,130.45,0.000,0.000,0.566,133,1006,1649,-12.75,0.17,400.08
$IRIDIUM_FIX,4722.92,-12251.79,021007,000032
$TT8_MAMPS,0.065962
$HUMID,2132
$INTERNAL_PRESSURE,11.4848
$TCM_TEMP,19.70
$XPDR_PINGS,113
$24V_AH,23.9,30.461
$10V_AH,10.1,18.617
$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,34.575,29.175,246.625,130.450,0.000,39.200,36.827,175.333,28.750,20.750,2577.250,10.929,340.779,902.601,464.442,377.122,412.075,33.335,702.085,0.000,358.938,0.000,4.057
$DEVICE_MAMPS,209.391,98.943,647.348,566.046,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,116.330,0.000,0.000,0.000,0.000,0.000,0.000,2598.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3319,178
$CFSIZE,260034560,253136896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,213745,4738.873,-12253.418,13,1.6,13,18.3