version: 66.02
glider: 116
mission: 6
dive: 352
start: 10 10 107 4 34 44
data:
$ID,116
$MISSION,6
$DIVE,352
$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,-37307.316
$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,25
$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,2
$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
$GPS1,042614,4743.070,-12250.766,9,1.9,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-59.2
$GPS2,043337,4743.103,-12250.725,14,1.4,30,18.3
$SPEED_LIMITS,0.192,0.262
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.153,-0.153
$KALMAN_X,29203.0,167.4,93.7,-26188.1,25.0
$KALMAN_Y,22595.0,149.5,136.8,-14816.4,41.3
$MHEAD_RNG_PITCHd_Wd,206.7,152,-24.3,-11.111
$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,29,end surface,CONTROL_FINISHED_OK
$STATE,29,begin dive
$GC,34,-2.14,-93.1,0.0,0.0,0,120,0.00,0.00,-83.05,0.000,2,0.000,0.000,131,996,3143
$GC,125,-2.19,-136.9,2.0,-1.7,14,174,14.77,1.62,-28.27,0.000,4,0.211,0.109,2422,162,3838
$GC,192,-2.19,-136.9,4.4,-6.7,24,198,0.00,1.50,0.00,0.000,6,0.000,0.044,2421,997,3839
$GC,266,-2.19,-136.9,13.2,-13.1,35,272,0.00,2.47,0.00,0.000,4,0.000,0.039,2421,2412,3838
$GC,377,-2.19,-136.9,24.0,-9.5,48,381,0.00,2.55,0.00,0.000,6,0.000,0.049,2421,1000,3839
$GC,574,-2.19,-136.9,44.0,-9.8,63,578,0.00,2.47,0.00,0.000,4,0.000,0.038,2421,2412,3839
$STATE,636,end dive,TARGET_DEPTH_EXCEEDED
$STATE,636,begin apogee
$GC,645,-0.42,0.0,50.6,9.7,67,815,1.95,0.00,160.98,0.606,6,0.116,0.000,2807,2512,3280
$STATE,817,end apogee,CONTROL_FINISHED_OK
$STATE,817,begin climb
$GC,821,2.19,136.9,52.3,0.0,81,995,2.60,2.58,160.23,0.578,4,0.055,0.071,3388,3891,2722
$GC,1036,2.19,136.9,21.3,20.1,98,1041,0.00,2.45,0.00,0.000,6,0.000,0.035,3388,2494,2722
$STATE,1145,end climb,SURFACE_DEPTH_REACHED
$STATE,1145,begin surface coast
$FINISH,1.0,1.022115
$STATE,1153,end surface coast,CONTROL_FINISHED_OK
$STATE,1153,begin surface
$SM_CCo,1192,137.60,0.545,0,0,1446,450.13
$SM_GC,1.34,0.00,0.00,137.60,0.000,0.000,0.545,132,1008,1446,-12.76,0.23,450.13
$IRIDIUM_FIX,4726.11,-12250.84,101007,070758
$TT8_MAMPS,0.069797
$HUMID,2083
$INTERNAL_PRESSURE,11.4653
$TCM_TEMP,19.70
$XPDR_PINGS,36
$24V_AH,23.9,54.555
$10V_AH,10.1,34.982
$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,34.025,18.550,321.200,137.600,0.000,37.314,36.115,179.497,9.000,0.000,1894.000,30.301,204.390,338.783,547.099,244.563,464.118,33.317,719.244,0.000,211.451,0.000,0.935
$DEVICE_MAMPS,210.925,108.914,605.930,545.337,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,72.527,0.000,0.000,0.000,0.000,0.000,0.000,1894.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,36.827,51.000
$DATA_FILE_SIZE,3308,115
$CFSIZE,260034560,246095872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101007,045745,4743.057,-12250.806,10,1.4,10,18.3