version: 66.02
glider: 116
mission: 6
dive: 264
start: 10 6 107 22 1 33
data:
$ID,116
$MISSION,6
$DIVE,264
$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,45
$T_MISSION,90
$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,130
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$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,-35129.984
$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
$GPS1,215126,4743.530,-12250.712,30,1.5,49,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-60.0
$GPS2,220022,4743.592,-12250.616,15,5.5,34,18.3
$SPEED_LIMITS,0.193,0.216
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.083,-0.199
$KALMAN_X,32431.9,101.0,164.0,-29284.9,127.9
$KALMAN_Y,18989.5,183.7,180.1,-10382.3,147.8
$MHEAD_RNG_PITCHd_Wd,184.4,1036,-13.3,-7.037
$D_GRID,168
$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,27,begin dive
$GC,31,-1.27,-127.1,0.0,0.0,0,112,0.00,0.00,-77.70,0.000,2,0.000,0.000,133,1014,3299
$GC,116,-1.27,-127.1,2.5,-3.1,13,159,16.10,2.53,-17.12,0.000,4,0.214,0.051,2623,2414,3802
$GC,352,-1.27,-127.1,14.7,-5.2,49,358,0.00,2.58,0.00,0.000,6,0.000,0.049,2623,992,3803
$GC,425,-1.27,-127.1,18.0,-4.7,60,431,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,992,3802
$GC,497,-1.27,-127.1,21.6,-5.1,69,501,0.00,2.50,0.00,0.000,4,0.000,0.039,2623,2422,3803
$GC,633,-1.27,-127.1,27.7,-4.5,79,637,0.00,2.58,0.00,0.000,6,0.000,0.049,2622,995,3803
$GC,830,-1.27,-127.1,37.0,-4.8,94,834,0.00,2.47,0.00,0.000,4,0.000,0.039,2623,2415,3803
$GC,1015,-1.27,-127.1,45.6,-4.6,108,1019,0.00,2.55,0.00,0.000,6,0.000,0.049,2623,1001,3803
$GC,1212,-1.27,-127.1,55.5,-5.1,123,1216,0.00,2.47,0.00,0.000,4,0.000,0.039,2622,2417,3803
$GC,1424,-1.27,-127.1,65.5,-4.4,139,1428,0.00,2.58,0.00,0.000,6,0.000,0.049,2623,993,3803
$GC,1620,-1.27,-127.1,75.4,-5.1,154,1625,0.00,2.50,0.00,0.000,4,0.000,0.039,2623,2417,3803
$GC,1800,-1.27,-127.1,84.3,-4.7,167,1804,0.00,2.58,0.00,0.000,6,0.000,0.050,2622,993,3803
$GC,1996,-1.27,-127.1,93.6,-4.8,182,2001,0.00,2.50,0.00,0.000,4,0.000,0.040,2623,2416,3803
$STATE,2026,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2027,begin apogee
$GC,2035,-0.42,0.0,95.2,5.0,184,2190,0.90,0.00,150.75,0.647,6,0.093,0.000,2808,2513,3281
$STATE,2195,end apogee,CONTROL_FINISHED_OK
$STATE,2195,begin climb
$GC,2198,1.27,127.1,96.4,0.0,197,2359,1.70,2.60,148.15,0.617,4,0.061,0.048,3178,1094,2762
$GC,2453,1.27,127.1,75.2,9.9,217,2458,0.00,2.53,0.00,0.000,6,0.000,0.040,3178,2507,2762
$GC,2651,1.27,127.1,56.1,9.8,232,2652,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2507,2761
$GC,2842,1.27,127.1,37.9,9.6,247,2843,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2507,2761
$GC,3030,1.27,127.1,19.3,9.9,262,3036,0.00,2.60,0.00,0.000,4,0.000,0.071,3178,3894,2761
$GC,3072,1.27,127.1,14.9,10.2,268,3079,0.00,2.45,0.00,0.000,6,0.000,0.037,3178,2491,2761
$GC,3146,1.27,127.1,7.7,9.0,279,3151,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2488,2761
$STATE,3215,end climb,SURFACE_DEPTH_REACHED
$STATE,3215,begin surface coast
$FINISH,0.6,1.022060
$STATE,3239,end surface coast,CONTROL_FINISHED_OK
$STATE,3239,begin surface
$SM_CCo,3272,120.15,0.574,0,0,1649,400.08
$SM_GC,1.11,0.00,0.00,120.15,0.000,0.000,0.574,133,1010,1649,-12.75,0.28,400.08
$IRIDIUM_FIX,4722.92,-12250.84,071007,000028
$TT8_MAMPS,0.072098
$HUMID,2150
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,19.70
$XPDR_PINGS,187
$24V_AH,23.9,44.707
$10V_AH,10.0,28.237
$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,32.200,40.875,298.900,120.150,0.000,38.342,35.781,263.138,47.000,0.000,4084.000,35.805,544.443,1688.286,505.893,607.830,607.516,33.347,859.331,0.000,560.178,0.000,2.495
$DEVICE_MAMPS,213.993,71.331,647.348,573.716,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,193.848,0.000,0.000,0.000,0.000,0.000,0.000,4084.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,21.848,51.000
$DATA_FILE_SIZE,6454,293
$CFSIZE,260034560,248987648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,225914,4743.424,-12250.689,12,1.7,30,18.3