version: 66.02
glider: 116
mission: 6
dive: 268
start: 10 7 107 2 54 16
data:
$ID,116
$MISSION,6
$DIVE,268
$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,-35215.293
$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,21
$R_STBD_OVSHOOT,19
$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,3
$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
$GPS1,024102,4743.246,-12250.717,9,2.0,15,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-56.9
$GPS2,025308,4743.405,-12250.600,17,1.8,22,18.3
$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,33327.1,289.8,93.5,-30278.7,45.1
$KALMAN_Y,20304.9,466.3,131.4,-12285.3,108.5
$MHEAD_RNG_PITCHd_Wd,184.2,711,-13.3,-7.037
$D_GRID,166
$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,34,end surface,CONTROL_FINISHED_OK
$STATE,34,begin dive
$GC,38,-1.27,-127.1,0.0,0.0,0,124,0.00,0.00,-83.30,0.000,2,0.000,0.000,133,1008,3388
$GC,129,-1.27,-127.1,2.4,-2.9,14,166,15.95,1.67,-13.23,0.000,4,0.209,0.112,2623,177,3801
$GC,219,-1.27,-127.1,8.7,-8.2,28,225,0.00,1.50,0.00,0.000,6,0.000,0.046,2623,1004,3802
$GC,293,-1.27,-127.1,12.4,-5.2,39,299,0.00,2.47,0.00,0.000,4,0.000,0.041,2623,2413,3802
$GC,333,-1.27,-127.1,14.3,-4.9,45,339,0.00,2.55,0.00,0.000,6,0.000,0.048,2623,1005,3803
$GC,406,-1.27,-127.1,18.0,-4.9,56,411,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,1005,3803
$GC,479,-1.27,-127.1,21.4,-4.7,65,483,0.00,2.50,0.00,0.000,4,0.000,0.040,2623,2423,3804
$GC,737,-1.27,-127.1,34.4,-5.1,84,741,0.00,2.58,0.00,0.000,6,0.000,0.049,2623,1001,3803
$GC,940,-1.27,-127.1,44.7,-5.0,100,944,0.00,2.50,0.00,0.000,4,0.000,0.039,2624,2421,3803
$GC,1199,-1.27,-127.1,57.0,-5.0,119,1203,0.00,2.58,0.00,0.000,6,0.000,0.050,2623,998,3803
$GC,1395,-1.27,-127.1,66.6,-5.0,134,1400,0.00,2.50,0.00,0.000,4,0.000,0.040,2623,2423,3803
$GC,1583,-1.27,-127.1,75.1,-4.4,148,1587,0.00,2.58,0.00,0.000,6,0.000,0.050,2623,999,3803
$GC,1780,-1.27,-127.1,84.9,-4.8,163,1784,0.00,2.47,0.00,0.000,4,0.000,0.039,2623,2413,3803
$GC,1975,-1.27,-127.1,93.9,-4.8,177,1979,0.00,2.55,0.00,0.000,6,0.000,0.051,2623,999,3803
$STATE,1998,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1998,begin apogee
$GC,2009,-0.42,0.0,95.2,4.8,179,2164,0.90,0.00,151.10,0.649,6,0.090,0.000,2809,2509,3281
$STATE,2172,end apogee,CONTROL_FINISHED_OK
$STATE,2172,begin climb
$GC,2176,1.27,127.1,96.1,0.0,192,2334,1.70,2.60,149.07,0.621,4,0.061,0.049,3180,1094,2761
$GC,2380,1.27,127.1,79.4,10.1,208,2386,0.00,2.55,0.00,0.000,6,0.000,0.040,3180,2517,2761
$GC,2577,1.27,127.1,59.8,10.1,224,2578,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2517,2761
$GC,2766,1.27,127.1,40.8,9.9,239,2767,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2517,2760
$GC,2955,1.27,127.1,22.5,9.7,254,2959,0.00,2.58,0.00,0.000,4,0.000,0.072,3179,3890,2760
$GC,3008,1.27,127.1,17.0,10.6,259,3014,0.00,2.45,0.00,0.000,6,0.000,0.037,3180,2480,2761
$GC,3081,1.27,127.1,9.4,10.8,270,3087,0.00,2.45,0.00,0.000,4,0.000,0.049,3179,1106,2760
$STATE,3157,end climb,SURFACE_DEPTH_REACHED
$STATE,3157,begin surface coast
$FINISH,0.8,1.022151
$STATE,3178,end surface coast,CONTROL_FINISHED_OK
$STATE,3178,begin surface
$SM_CCo,3238,120.03,0.577,0,0,1651,400.08
$SM_GC,1.10,0.00,0.00,120.03,0.000,0.000,0.577,133,1007,1651,-12.75,0.20,400.08
$IRIDIUM_FIX,4726.11,-12248.15,071007,050543
$TT8_MAMPS,0.087438
$HUMID,2098
$INTERNAL_PRESSURE,11.4653
$TCM_TEMP,19.70
$XPDR_PINGS,18
$24V_AH,23.9,45.165
$10V_AH,9.8,28.679
$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,32.375,43.975,300.175,120.025,0.000,40.902,35.238,356.549,4.750,0.000,4206.000,22.232,497.709,1685.204,514.349,611.273,781.751,33.345,862.114,0.000,557.600,0.000,2.495
$DEVICE_MAMPS,209.391,111.982,648.882,576.784,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,188.167,0.000,0.000,0.000,0.000,0.000,3984.480,4206.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,32.963,51.000
$DATA_FILE_SIZE,6434,285
$CFSIZE,260034560,248799232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,035132,4743.244,-12250.766,37,1.3,38,18.3