version: 66.02
glider: 116
mission: 6
dive: 326
start: 10 9 107 11 46 30
data:
$ID,116
$MISSION,6
$DIVE,326
$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,35
$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,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,-36621.828
$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,17
$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
$GPS1,113645,4743.128,-12250.828,11,1.9,11,18.3
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-64.7
$GPS2,114520,4743.111,-12250.843,10,1.8,15,18.3
$SPEED_LIMITS,0.148,0.239
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.050,-0.140
$KALMAN_X,28556.1,-117.2,57.4,-25365.0,-4.4
$KALMAN_Y,22138.8,-200.5,59.6,-13915.2,-13.6
$MHEAD_RNG_PITCHd_Wd,142.0,118,-27.0,-8.571
$D_GRID,164
$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,-2.31,-50.1,0.0,0.0,0,125,0.00,0.00,-82.90,0.000,2,0.000,0.000,136,996,3159
$GC,130,-2.38,-103.0,2.1,-2.5,14,173,14.43,1.67,-23.52,0.000,4,0.208,0.107,2381,167,3702
$GC,425,-2.38,-103.0,29.2,-9.1,52,430,0.00,1.50,0.00,0.000,6,0.000,0.042,2381,1002,3703
$GC,622,-2.38,-107.3,45.5,-8.1,68,626,0.00,1.65,-0.15,0.000,4,0.000,0.101,2381,168,3720
$GC,879,-2.38,-107.3,69.5,-9.7,87,885,0.00,1.50,0.00,0.000,6,0.000,0.042,2381,1002,3721
$GC,1076,-2.38,-107.3,87.0,-8.7,103,1080,0.00,2.50,0.00,0.000,4,0.000,0.040,2381,2412,3721
$STATE,1112,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1112,begin apogee
$GC,1121,-0.42,0.0,90.4,8.8,105,1254,2.22,0.00,127.75,0.643,6,0.120,0.000,2812,2511,3281
$STATE,1257,end apogee,CONTROL_FINISHED_OK
$STATE,1258,begin climb
$GC,1262,2.38,107.3,91.6,0.0,116,1394,2.75,0.00,125.97,0.613,6,0.053,0.000,3426,2511,2843
$GC,1580,2.38,107.3,39.0,19.6,142,1585,0.00,2.60,0.00,0.000,4,0.000,0.071,3427,3890,2842
$GC,1734,2.38,107.3,9.3,15.6,157,1740,0.00,2.45,0.00,0.000,6,0.000,0.036,3427,2497,2842
$STATE,1783,end climb,SURFACE_DEPTH_REACHED
$STATE,1783,begin surface coast
$FINISH,0.7,1.000972
$STATE,1798,end surface coast,CONTROL_FINISHED_OK
$STATE,1798,begin surface
$SM_CCo,1842,151.45,0.562,0,0,1446,450.13
$SM_GC,1.31,0.00,0.00,151.45,0.000,0.000,0.562,134,1007,1446,-12.75,0.20,450.13
$IRIDIUM_FIX,4726.11,-12250.84,091007,141427
$TT8_MAMPS,0.070564
$HUMID,2103
$INTERNAL_PRESSURE,11.4653
$TCM_TEMP,19.70
$XPDR_PINGS,75
$24V_AH,23.4,51.726
$10V_AH,10.0,33.483
$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,34.675,16.800,253.725,151.450,0.000,37.697,33.411,216.130,19.000,95.770,2535.230,15.609,296.937,847.680,498.308,345.431,531.215,33.331,713.854,0.000,324.087,0.000,2.497
$DEVICE_MAMPS,207.857,107.380,642.746,562.211,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,108.664,0.000,0.000,0.000,0.000,0.000,2488.940,2631.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,36.827,51.000
$DATA_FILE_SIZE,3324,167
$CFSIZE,260034560,246824960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091007,122053,4743.009,-12250.685,9,4.1,28,18.3