version: 66.02
glider: 116
mission: 6
dive: 321
start: 10 9 107 8 4 49
data:
$ID,116
$MISSION,6
$DIVE,321
$D_SURF,2
$D_FLARE,2
$D_TGT,90
$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,30
$T_MISSION,45
$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,140
$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,-36531.426
$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,16
$R_STBD_OVSHOOT,21
$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
$GPS1,075547,4743.070,-12250.836,13,2.1,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-64.7
$GPS2,080344,4743.055,-12250.864,10,2.0,15,18.3
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.037,-0.169
$KALMAN_X,28718.1,-285.5,7.8,-25335.5,46.4
$KALMAN_Y,22472.0,-335.9,-27.3,-14130.2,43.3
$MHEAD_RNG_PITCHd_Wd,149.3,60,-27.2,-10.000
$D_GRID,163
$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,35,end surface,CONTROL_FINISHED_OK
$STATE,35,begin dive
$GC,40,-2.35,-63.1,0.0,0.0,0,125,0.00,0.00,-83.00,0.000,2,0.000,0.000,133,1009,3168
$GC,130,-2.43,-130.5,2.1,-2.8,14,179,14.43,1.70,-27.00,0.000,4,0.212,0.109,2369,162,3814
$GC,431,-2.43,-130.5,35.4,-12.1,51,435,0.00,1.50,0.00,0.000,6,0.000,0.042,2369,1002,3815
$GC,634,-2.43,-130.5,59.2,-11.7,67,638,0.00,1.62,0.00,0.000,4,0.000,0.084,2369,159,3815
$GC,786,-2.43,-130.5,78.0,-12.0,78,792,0.00,1.50,0.00,0.000,6,0.000,0.043,2368,999,3815
$STATE,904,end dive,TARGET_DEPTH_EXCEEDED
$STATE,904,begin apogee
$GC,916,-0.42,0.0,91.2,11.2,88,1078,2.25,0.00,154.77,0.639,6,0.121,0.000,2808,2508,3280
$STATE,1101,end apogee,CONTROL_FINISHED_OK
$STATE,1102,begin climb
$GC,1105,2.43,130.5,93.8,0.0,102,1264,2.83,0.00,152.32,0.608,6,0.054,0.000,3439,2508,2749
$GC,1458,2.43,130.5,31.9,20.8,130,1462,0.00,2.60,0.00,0.000,4,0.000,0.072,3438,3889,2749
$GC,1590,2.43,130.5,3.9,18.2,145,1596,0.00,2.45,0.00,0.000,6,0.000,0.036,3439,2493,2749
$STATE,1600,end climb,SURFACE_DEPTH_REACHED
$STATE,1601,begin surface coast
$FINISH,0.7,1.022229
$STATE,1608,end surface coast,CONTROL_FINISHED_OK
$STATE,1609,begin surface
$SM_CCo,1651,141.23,0.558,0,0,1446,450.13
$SM_GC,1.43,0.00,0.00,141.23,0.000,0.000,0.558,133,1004,1446,-12.76,0.11,450.13
$IRIDIUM_FIX,4726.11,-12257.95,091007,111141
$TT8_MAMPS,0.071331
$HUMID,2085
$INTERNAL_PRESSURE,11.4653
$TCM_TEMP,19.80
$XPDR_PINGS,57
$24V_AH,23.9,51.135
$10V_AH,10.0,33.136
$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,34.725,16.850,307.100,141.225,0.000,39.034,31.790,184.408,14.500,0.000,2408.000,15.799,250.823,684.521,543.535,294.271,503.173,33.332,737.757,0.000,273.547,0.000,2.495
$DEVICE_MAMPS,211.692,108.914,638.911,557.609,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,95.100,0.000,0.000,0.000,0.000,0.000,2284.910,2408.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,36.827,51.000
$DATA_FILE_SIZE,3295,148
$CFSIZE,260034560,246984704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091007,083553,4742.919,-12250.734,11,2.2,30,18.3