version: 66.02
glider: 116
mission: 6
dive: 136
start: 10 1 107 23 12 55
data:
$ID,116
$MISSION,6
$DIVE,136
$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,-32184.008
$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
$GPS1,230534,4738.838,-12253.417,14,2.2,33,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-63.2
$GPS2,231145,4738.875,-12253.270,15,1.2,15,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.147,-0.054
$KALMAN_X,18174.2,90.2,117.4,-18279.8,275.8
$KALMAN_Y,13294.4,34.0,154.5,-13246.7,115.2
$MHEAD_RNG_PITCHd_Wd,231.6,81,-24.8,-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,27,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,31,-2.13,-56.6,0.0,0.0,0,121,0.00,0.00,-84.50,0.000,6,0.000,0.000,137,1013,3512
$GC,127,-2.23,-131.7,2.2,-0.9,15,158,14.57,2.50,-9.02,0.000,4,0.209,0.053,2416,2417,3820
$GC,277,-2.23,-131.7,18.0,-11.9,38,283,0.00,2.58,0.00,0.000,6,0.000,0.050,2417,1000,3821
$GC,347,-2.23,-131.7,25.9,-11.4,45,348,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,999,3821
$GC,540,-2.23,-131.7,46.2,-10.7,60,545,0.00,2.50,0.00,0.000,4,0.000,0.040,2417,2416,3821
$GC,699,-2.23,-131.7,64.3,-11.7,71,706,0.00,2.58,0.00,0.000,6,0.000,0.051,2416,997,3821
$GC,895,-2.23,-131.7,86.7,-10.9,87,896,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,997,3821
$STATE,1019,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1019,begin apogee
$GC,1029,-0.42,0.0,100.1,10.3,97,1194,2.00,0.00,155.68,0.639,6,0.120,0.000,2809,2512,3281
$STATE,1195,end apogee,CONTROL_FINISHED_OK
$STATE,1195,begin climb
$GC,1198,2.23,131.7,102.0,0.0,111,1362,2.60,2.58,154.12,0.609,4,0.054,0.073,3391,3890,2744
$GC,1408,2.23,131.7,72.6,18.9,128,1413,0.00,2.47,0.00,0.000,6,0.000,0.039,3391,2494,2743
$GC,1604,2.23,131.7,38.5,17.8,143,1608,0.00,2.62,0.00,0.000,4,0.000,0.067,3391,3890,2743
$GC,1725,2.23,131.7,17.1,17.9,152,1731,0.00,2.42,0.00,0.000,6,0.000,0.038,3392,2508,2743
$GC,1797,2.23,131.7,5.1,15.5,163,1804,0.00,2.58,0.00,0.000,4,0.000,0.065,3391,3890,2743
$STATE,1814,end climb,SURFACE_DEPTH_REACHED
$STATE,1814,begin surface coast
$FINISH,0.1,1.018014
$STATE,1824,end surface coast,CONTROL_FINISHED_OK
$STATE,1824,begin surface
$SM_CCo,1860,118.18,0.562,0,0,1650,400.08
$SM_GC,0.94,0.00,0.00,118.18,0.000,0.000,0.562,132,1005,1650,-12.76,0.11,400.08
$IRIDIUM_FIX,4719.74,-12251.79,021007,020246
$TT8_MAMPS,0.067496
$HUMID,2133
$INTERNAL_PRESSURE,11.4946
$TCM_TEMP,19.70
$XPDR_PINGS,97
$24V_AH,23.9,30.745
$10V_AH,10.1,18.788
$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,34.125,30.850,309.800,118.175,0.000,38.777,37.372,157.509,24.750,0.000,2483.000,15.173,311.514,828.401,505.246,339.290,394.907,33.338,737.875,0.000,317.945,0.000,4.055
$DEVICE_MAMPS,208.624,72.865,638.911,562.211,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,108.029,0.000,0.000,0.000,0.000,0.000,0.000,2483.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3328,167
$CFSIZE,260034560,253050880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,234639,4738.835,-12253.456,8,1.4,8,18.3