version: 66.02
glider: 116
mission: 6
dive: 170
start: 10 3 107 7 9 55
data:
$ID,116
$MISSION,6
$DIVE,170
$D_SURF,2
$D_FLARE,2
$D_TGT,95
$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,-32988.023
$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
$GPS1,070220,4740.771,-12251.568,12,1.2,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-65.9
$GPS2,070844,4740.772,-12251.539,14,2.0,31,18.3
$SPEED_LIMITS,0.137,0.240
$TGT_NAME,11_XS
$TGT_LATLONG,4740.927,-12251.586
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.029,0.134
$KALMAN_X,28549.6,97.9,-178.9,-26210.3,15.5
$KALMAN_Y,23334.6,243.9,-151.8,-19676.0,-33.7
$MHEAD_RNG_PITCHd_Wd,329.4,292,-26.9,-7.917
$D_GRID,98
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-2.30,-44.5,0.0,0.0,0,110,0.00,0.00,-78.05,0.000,2,0.000,0.000,134,1007,3293
$GC,113,-2.34,-77.4,2.2,-4.0,13,145,14.57,2.50,-10.23,0.000,4,0.212,0.051,2391,2417,3597
$GC,396,-2.36,-94.0,27.6,-5.9,48,403,0.00,2.58,-0.88,0.000,6,0.000,0.049,2391,996,3668
$GC,592,-2.36,-94.0,43.4,-8.9,64,596,0.00,2.50,0.00,0.000,4,0.000,0.040,2391,2414,3669
$GC,851,-2.37,-101.2,63.0,-7.1,83,856,0.00,2.58,-0.25,0.000,6,0.000,0.051,2391,997,3701
$GC,1046,-2.37,-101.2,79.5,-8.9,98,1051,0.00,2.50,0.00,0.000,4,0.000,0.040,2391,2414,3702
$STATE,1214,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1214,begin apogee
$GC,1222,-0.42,0.0,95.1,8.4,110,1349,2.17,0.00,121.62,0.649,6,0.127,0.000,2811,2514,3281
$STATE,1350,end apogee,CONTROL_FINISHED_OK
$STATE,1353,begin climb
$GC,1355,2.37,101.2,96.2,0.0,121,1486,2.75,2.60,118.45,0.622,4,0.058,0.048,3422,1091,2868
$GC,1585,2.37,101.2,62.1,18.6,138,1592,0.00,2.53,0.00,0.000,6,0.000,0.040,3422,2507,2867
$GC,1781,2.37,101.2,27.7,18.0,154,1785,0.00,2.60,0.00,0.000,4,0.000,0.070,3422,3891,2867
$STATE,1930,end climb,SURFACE_DEPTH_REACHED
$STATE,1930,begin surface coast
$FINISH,0.3,1.022001
$STATE,1945,end surface coast,CONTROL_FINISHED_OK
$STATE,1945,begin surface
$SM_CCo,1982,131.50,0.568,0,0,1649,400.08
$SM_GC,0.91,0.00,0.00,131.50,0.000,0.000,0.568,135,994,1649,-12.74,-0.17,400.08
$IRIDIUM_FIX,4722.92,-12251.79,031007,101050
$TT8_MAMPS,0.067496
$HUMID,2116
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,19.60
$XPDR_PINGS,115
$24V_AH,23.9,34.480
$10V_AH,10.1,21.261
$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,34.625,25.825,240.075,131.500,0.000,40.750,31.618,150.817,29.000,16.610,2577.390,33.330,339.074,942.566,450.596,404.058,390.075,33.330,687.078,0.000,367.817,0.000,2.496
$DEVICE_MAMPS,212.459,69.797,648.882,567.580,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,114.619,0.000,0.000,0.000,0.000,0.000,0.000,2594.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3321,175
$CFSIZE,260034560,251973632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031007,074631,4740.833,-12251.387,40,1.2,45,18.3