version: 66.02
glider: 116
mission: 6
dive: 312
start: 10 8 107 23 31 5
data:
$ID,116
$MISSION,6
$DIVE,312
$D_SURF,2
$D_FLARE,2
$D_TGT,45
$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,15
$T_MISSION,30
$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,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,450
$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,-36265.852
$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,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
$GPS1,231008,4742.810,-12251.102,34,1.3,34,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-64.1
$GPS2,232957,4742.727,-12251.204,13,1.4,13,18.3
$SPEED_LIMITS,0.173,0.244
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.149,0.193
$KALMAN_X,29757.7,-325.0,-164.9,-26577.0,-3.7
$KALMAN_Y,23792.8,-326.0,-176.7,-15907.5,-12.6
$MHEAD_RNG_PITCHd_Wd,19.3,768,-18.9,-10.000
$D_GRID,156
$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,35,begin dive
$GC,39,-1.73,-127.1,0.0,0.0,0,130,0.00,0.00,-88.88,0.000,2,0.000,0.000,135,996,3296
$GC,135,-1.73,-127.1,2.5,-4.1,15,178,15.18,2.58,-18.05,0.000,4,0.206,0.051,2524,2423,3800
$GC,338,-1.73,-127.1,17.5,-8.4,46,344,0.00,2.58,0.00,0.000,6,0.000,0.048,2523,996,3802
$GC,410,-1.73,-127.1,23.8,-8.7,54,413,0.00,1.62,0.00,0.000,4,0.000,0.093,2524,159,3802
$GC,477,-1.73,-127.1,29.0,-7.3,59,481,0.00,1.52,0.00,0.000,6,0.000,0.045,2523,1004,3803
$GC,680,-1.73,-127.1,43.3,-6.7,75,684,0.00,2.47,0.00,0.000,4,0.000,0.041,2523,2416,3802
$STATE,702,end dive,TARGET_DEPTH_EXCEEDED
$STATE,702,begin apogee
$GC,712,-0.42,0.0,45.1,6.3,76,865,1.42,0.00,149.10,0.617,6,0.107,0.000,2807,2512,3281
$STATE,868,end apogee,CONTROL_FINISHED_OK
$STATE,868,begin climb
$GC,872,1.73,127.1,46.3,0.0,89,1028,2.15,2.60,147.38,0.588,4,0.057,0.049,3287,1093,2761
$GC,1076,1.73,127.1,23.7,14.4,106,1080,0.00,2.53,0.00,0.000,6,0.000,0.040,3287,2512,2761
$STATE,1251,end climb,SURFACE_DEPTH_REACHED
$STATE,1251,begin surface coast
$FINISH,0.7,1.022217
$STATE,1268,end surface coast,CONTROL_FINISHED_OK
$STATE,1268,begin surface
$SM_CCo,1308,141.62,0.552,0,0,1445,450.13
$SM_GC,1.44,0.00,0.00,141.62,0.000,0.000,0.552,133,997,1445,-12.75,-0.08,450.13
$IRIDIUM_FIX,4722.92,-12253.53,091007,030356
$TT8_MAMPS,0.075933
$HUMID,2042
$INTERNAL_PRESSURE,11.4653
$TCM_TEMP,19.70
$XPDR_PINGS,61
$24V_AH,23.9,50.041
$10V_AH,10.0,32.347
$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,33.200,18.875,296.475,141.625,0.000,0.000,0.000,0.000,15.250,0.000,1467.000,13.561,225.962,445.016,510.114,245.325,113.779,33.334,702.841,0.000,247.628,0.000,0.936
$DEVICE_MAMPS,206.323,92.807,617.435,552.240,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,85.139,0.000,0.000,0.000,0.000,0.000,1392.790,1467.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,36.827,51.000
$DATA_FILE_SIZE,3319,133
$CFSIZE,260034560,247234560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081007,235609,4742.772,-12251.143,13,1.4,14,18.3