version: 66.02
glider: 116
mission: 6
dive: 135
start: 10 1 107 22 26 54
data:
$ID,116
$MISSION,6
$DIVE,135
$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,-32168.203
$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
$GPS1,221937,4738.850,-12253.373,13,1.2,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-62.9
$GPS2,222544,4738.902,-12253.229,13,1.4,13,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.165,-0.083
$KALMAN_X,17811.1,117.0,111.0,-17886.8,267.2
$KALMAN_Y,13144.7,30.0,158.4,-13046.9,136.2
$MHEAD_RNG_PITCHd_Wd,224.9,146,-20.7,-8.333
$D_GRID,137
$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,-1.83,-79.1,0.0,0.0,0,116,0.00,0.00,-82.78,0.000,2,0.000,0.000,135,1009,3486
$GC,120,-1.91,-146.6,2.0,-1.2,14,157,14.93,2.53,-12.90,0.000,4,0.207,0.053,2486,2412,3880
$GC,289,-1.91,-146.6,15.6,-9.8,40,295,0.00,2.58,0.00,0.000,6,0.000,0.051,2487,995,3880
$GC,360,-1.91,-146.6,22.5,-9.8,49,362,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,995,3880
$GC,554,-1.91,-146.6,40.8,-9.4,64,558,0.00,2.53,0.00,0.000,4,0.000,0.041,2486,2422,3881
$GC,671,-1.91,-146.6,51.8,-8.7,72,678,0.00,2.62,0.00,0.000,6,0.000,0.051,2486,998,3881
$GC,868,-1.91,-146.6,70.6,-9.5,88,872,0.00,2.50,0.00,0.000,4,0.000,0.041,2486,2420,3881
$GC,973,-1.91,-146.6,80.7,-9.3,96,977,0.00,2.58,0.00,0.000,6,0.000,0.052,2486,1000,3881
$GC,1175,-1.91,-146.6,99.9,-9.9,112,1176,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,999,3881
$STATE,1188,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1188,begin apogee
$GC,1197,-0.42,0.0,101.1,9.8,113,1378,1.62,0.00,173.20,0.639,6,0.110,0.000,2812,2516,3281
$STATE,1379,end apogee,CONTROL_FINISHED_OK
$STATE,1379,begin climb
$GC,1382,1.91,146.6,103.9,0.0,128,1565,2.28,0.00,171.50,0.609,6,0.056,0.000,3324,2515,2682
$GC,1752,1.91,146.6,53.7,16.0,158,1753,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2516,2683
$GC,1943,1.91,146.6,24.2,15.3,173,1948,0.00,2.58,0.00,0.000,4,0.000,0.071,3323,3890,2683
$GC,2009,1.91,146.6,13.9,16.2,180,2016,0.00,2.45,0.00,0.000,6,0.000,0.038,3324,2493,2683
$GC,2083,1.91,146.6,2.8,15.4,191,2089,0.00,2.62,0.00,0.000,4,0.000,0.067,3324,3891,2682
$STATE,2093,end climb,SURFACE_DEPTH_REACHED
$STATE,2093,begin surface coast
$FINISH,0.3,1.006094
$STATE,2101,end surface coast,CONTROL_FINISHED_OK
$STATE,2101,begin surface
$SM_CCo,2137,111.20,0.565,0,0,1649,400.08
$SM_GC,0.87,0.00,0.00,111.20,0.000,0.000,0.565,137,1013,1649,-12.74,0.37,400.08
$IRIDIUM_FIX,4722.92,-12253.53,021007,010159
$TT8_MAMPS,0.067496
$HUMID,2138
$INTERNAL_PRESSURE,11.4848
$TCM_TEMP,19.70
$XPDR_PINGS,121
$24V_AH,23.9,30.652
$10V_AH,10.1,18.732
$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,33.375,31.000,344.700,111.200,0.000,37.211,38.838,154.122,30.750,0.000,2765.000,13.953,350.795,993.916,542.309,362.559,395.792,33.339,786.360,0.000,343.105,0.000,4.055
$DEVICE_MAMPS,207.090,70.564,638.911,565.279,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,126.103,0.000,0.000,0.000,0.000,0.000,0.000,2765.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6465,194
$CFSIZE,260034560,253071360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,230534,4738.838,-12253.417,14,2.2,33,18.3