version: 66.02
glider: 116
mission: 6
dive: 330
start: 10 9 107 15 3 23
data:
$ID,116
$MISSION,6
$DIVE,330
$D_SURF,2
$D_FLARE,2
$D_TGT,50
$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,40
$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,-36722.098
$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,18
$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
$GPS1,144852,4743.029,-12250.940,9,1.6,9,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-64.9
$GPS2,150214,4743.025,-12250.953,10,1.3,15,18.3
$SPEED_LIMITS,0.192,0.262
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.182,0.063
$KALMAN_X,28606.8,6.5,-5.5,-25610.6,22.6
$KALMAN_Y,22079.7,-65.5,1.6,-14092.4,-4.6
$MHEAD_RNG_PITCHd_Wd,52.7,175,-27.4,-11.111
$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,31,end surface,CONTROL_FINISHED_OK
$STATE,31,begin dive
$GC,36,-2.37,-73.8,0.0,0.0,0,121,0.00,0.00,-82.82,0.000,2,0.000,0.000,136,992,3146
$GC,126,-2.45,-136.9,2.2,-2.9,14,175,14.35,0.00,-30.75,0.000,6,0.209,0.000,2365,991,3839
$GC,242,-2.45,-136.9,10.3,-14.0,32,248,0.00,2.53,0.00,0.000,4,0.000,0.039,2365,2417,3840
$GC,349,-2.45,-136.9,25.0,-12.3,46,353,0.00,2.58,0.00,0.000,6,0.000,0.048,2365,1000,3840
$GC,545,-2.45,-136.9,48.2,-12.0,61,549,0.00,2.50,0.00,0.000,4,0.000,0.038,2365,2417,3840
$STATE,561,end dive,TARGET_DEPTH_EXCEEDED
$STATE,561,begin apogee
$GC,570,-0.42,0.0,50.7,11.9,62,737,2.30,0.00,160.98,0.614,6,0.122,0.000,2809,2517,3281
$STATE,759,end apogee,CONTROL_FINISHED_OK
$STATE,759,begin climb
$GC,763,2.45,136.9,54.0,0.0,76,930,2.85,2.62,158.85,0.585,4,0.054,0.071,3444,3885,2722
$GC,965,2.45,136.9,22.1,22.4,93,970,0.00,2.47,0.00,0.000,6,0.000,0.035,3444,2489,2723
$STATE,1074,end climb,SURFACE_DEPTH_REACHED
$STATE,1074,begin surface coast
$FINISH,0.6,1.014979
$STATE,1082,end surface coast,CONTROL_FINISHED_OK
$STATE,1082,begin surface
$SM_CCo,1126,137.20,0.547,0,0,1445,450.13
$SM_GC,1.39,0.00,0.00,137.20,0.000,0.000,0.547,135,1010,1445,-12.74,0.28,450.13
$IRIDIUM_FIX,4722.92,-12250.84,091007,181819
$TT8_MAMPS,0.074399
$HUMID,2054
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,19.80
$XPDR_PINGS,39
$24V_AH,23.9,52.246
$10V_AH,10.0,33.779
$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,34.850,15.600,319.825,137.200,0.000,114.803,146.316,197.801,9.750,56.600,2125.400,15.279,184.685,437.194,537.613,216.667,699.577,33.336,704.806,0.000,198.833,0.000,0.936
$DEVICE_MAMPS,208.624,70.564,613.600,546.871,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,68.563,0.000,0.000,0.000,0.000,0.000,2069.290,2182.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,36.827,51.000
$DATA_FILE_SIZE,3329,109
$CFSIZE,260034560,246697984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091007,152538,4743.069,-12250.807,14,1.9,31,18.3