version: 66.02
glider: 116
mission: 6
dive: 334
start: 10 9 107 17 20 56
data:
$ID,116
$MISSION,6
$DIVE,334
$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,-36804.309
$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,20
$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
$GPS1,171145,4742.977,-12250.827,12,1.1,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-64.8
$GPS2,171950,4742.977,-12250.823,11,1.1,16,18.3
$SPEED_LIMITS,0.192,0.262
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.020,0.191
$KALMAN_X,28704.3,63.6,-6.2,-25606.1,22.3
$KALMAN_Y,21981.0,-48.6,-51.8,-14045.0,-9.8
$MHEAD_RNG_PITCHd_Wd,335.8,136,-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,35,end surface,CONTROL_FINISHED_OK
$STATE,35,begin dive
$GC,39,-2.37,-73.8,0.0,0.0,0,125,0.00,0.00,-83.40,0.000,2,0.000,0.000,137,997,3162
$GC,130,-2.45,-136.9,2.1,-3.0,14,180,14.43,1.67,-29.33,0.000,4,0.212,0.107,2368,166,3840
$GC,432,-2.45,-136.9,35.8,-12.5,51,435,0.00,1.50,0.00,0.000,6,0.000,0.043,2367,1002,3841
$STATE,557,end dive,TARGET_DEPTH_EXCEEDED
$STATE,558,begin apogee
$GC,569,-0.42,0.0,51.2,12.2,61,734,2.28,0.00,160.18,0.608,6,0.123,0.000,2809,2512,3281
$STATE,738,end apogee,CONTROL_FINISHED_OK
$STATE,738,begin climb
$GC,742,2.45,136.9,54.2,0.0,75,911,2.83,2.65,158.75,0.580,4,0.053,0.071,3443,3893,2723
$GC,969,2.45,136.9,18.6,21.6,93,975,0.00,2.45,0.00,0.000,6,0.000,0.036,3444,2497,2722
$GC,1042,2.45,136.9,3.6,17.5,104,1047,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,2497,2722
$STATE,1052,end climb,SURFACE_DEPTH_REACHED
$STATE,1052,begin surface coast
$FINISH,0.7,1.002052
$STATE,1060,end surface coast,CONTROL_FINISHED_OK
$STATE,1060,begin surface
$SM_CCo,1124,137.02,0.544,0,0,1445,450.13
$SM_GC,1.41,0.00,0.00,137.02,0.000,0.000,0.544,133,1005,1445,-12.75,0.08,450.13
$IRIDIUM_FIX,4726.11,-12253.53,091007,202012
$TT8_MAMPS,0.075166
$HUMID,2057
$INTERNAL_PRESSURE,11.4653
$TCM_TEMP,19.80
$XPDR_PINGS,38
$24V_AH,23.9,52.666
$10V_AH,10.0,34.011
$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,34.925,13.750,318.925,137.025,0.000,37.850,52.154,174.701,9.500,0.000,1864.000,16.694,182.864,300.970,545.413,220.219,505.158,33.328,708.026,0.000,200.569,0.000,0.935
$DEVICE_MAMPS,211.692,107.380,608.231,543.803,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,67.091,0.000,0.000,0.000,0.000,0.000,1769.750,1864.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,36.827,51.000
$DATA_FILE_SIZE,3324,107
$CFSIZE,260034560,246583296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091007,174251,4743.073,-12250.871,13,1.1,13,18.3