version: 66.02
glider: 116
mission: 6
dive: 377
start: 10 10 107 22 33 54
data:
$ID,116
$MISSION,6
$DIVE,377
$D_SURF,2
$D_FLARE,2
$D_TGT,200
$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,60
$T_MISSION,450
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,5400
$USE_BATHY,0
$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,-37953.379
$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,18
$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
$GPS1,221332,4743.019,-12250.858,8,1.8,8,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-64.7
$GPS2,223305,4743.005,-12250.944,11,2.3,30,18.3
$SPEED_LIMITS,0.192,0.262
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.154,0.116
$KALMAN_X,29602.5,-126.8,-74.1,-26393.9,-8.9
$KALMAN_Y,23182.3,-233.7,-177.3,-14883.4,-43.7
$MHEAD_RNG_PITCHd_Wd,34.6,179,-27.4,-11.111
$D_GRID,200
$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,36,end surface,CONTROL_FINISHED_OK
$STATE,36,begin dive
$GC,41,-2.37,-73.8,0.0,0.0,0,120,0.00,0.00,-77.03,0.000,2,0.000,0.000,136,988,3049
$GC,126,-2.45,-136.9,2.1,-1.3,13,187,14.15,1.62,-39.30,0.000,4,0.203,0.107,2365,171,3839
$GC,311,-2.45,-136.9,18.5,-13.7,41,316,0.00,1.50,0.00,0.000,6,0.000,0.041,2365,1005,3839
$GC,388,-2.45,-136.9,27.8,-11.9,48,389,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1005,3841
$GC,577,-2.45,-136.9,48.6,-11.0,63,581,0.00,2.47,0.00,0.000,4,0.000,0.038,2365,2413,3839
$GC,638,-2.45,-136.9,55.3,-10.9,67,642,0.00,2.55,0.00,0.000,6,0.000,0.047,2365,1002,3839
$GC,842,-2.45,-136.9,78.8,-11.6,83,846,0.00,2.50,0.00,0.000,4,0.000,0.038,2365,2416,3840
$GC,936,-2.45,-136.9,89.6,-11.3,89,943,0.00,2.58,0.00,0.000,6,0.000,0.048,2365,994,3840
$GC,1133,-2.45,-136.9,112.3,-11.3,105,1137,0.00,2.50,0.00,0.000,4,0.000,0.037,2365,2412,3840
$GC,1220,-2.45,-136.9,121.5,-10.3,111,1225,0.00,2.58,0.00,0.000,6,0.000,0.048,2365,996,3840
$GC,1859,-2.45,-136.9,182.2,-0.2,161,1864,0.00,2.50,0.00,0.000,4,0.000,0.038,2365,2412,3839
$GC,2118,-2.45,-136.9,182.1,0.3,180,2122,0.00,2.58,0.00,0.000,6,0.000,0.049,2365,1000,3840
$GC,2757,-2.45,-136.9,182.2,-0.0,230,2758,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1001,3839
$GC,3388,-2.45,-136.9,182.3,0.0,280,3389,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1000,3839
$GC,4021,-2.45,-136.9,182.2,0.3,330,4022,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1000,3838
$GC,4649,-2.45,-136.9,182.3,0.1,380,4650,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1000,3837
$GC,5280,-2.45,-136.9,182.3,-0.3,430,5281,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1001,3837
$GC,5911,-2.45,-136.9,182.4,0.0,480,5912,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1000,3837
$GC,6542,-2.45,-136.9,182.3,-0.0,530,6543,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1000,3837
$GC,7173,-2.45,-136.9,182.2,0.1,580,7174,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1000,3837
$STATE,7207,end dive,NO_VERTICAL_VELOCITY
$STATE,7207,begin apogee
$GC,7219,-0.42,0.0,182.2,0.0,583,7388,2.20,0.00,164.23,0.700,6,0.097,0.000,2813,2511,3280
$STATE,7407,end apogee,CONTROL_FINISHED_OK
$STATE,7407,begin climb
$GC,7412,2.45,136.9,181.5,0.0,597,7585,2.80,2.65,162.57,0.667,4,0.054,0.048,3439,1096,2723
$GC,7610,2.45,136.9,150.3,20.9,613,7614,0.00,2.55,0.00,0.000,6,0.000,0.040,3439,2513,2723
$GC,8249,2.45,136.9,15.7,19.8,664,8255,0.00,2.58,0.00,0.000,4,0.000,0.069,3438,3887,2722
$STATE,8325,end climb,SURFACE_DEPTH_REACHED
$STATE,8325,begin surface coast
$FINISH,1.0,1.006808
$STATE,8333,end surface coast,CONTROL_FINISHED_OK
$STATE,8333,begin surface
$SM_CCo,8396,138.43,0.578,0,0,1446,450.13
$SM_GC,1.67,0.00,0.00,138.43,0.000,0.000,0.578,132,997,1446,-12.76,-0.08,450.13
$IRIDIUM_FIX,4722.92,-12250.84,111007,020222
$TT8_MAMPS,0.086671
$HUMID,2099
$INTERNAL_PRESSURE,11.4458
$TCM_TEMP,19.40
$XPDR_PINGS,36
$24V_AH,23.3,57.164
$10V_AH,10.0,36.599
$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,34.350,39.150,326.800,138.425,0.000,0.000,0.000,0.000,11.500,452.624,8103.376,31.735,1044.732,5655.278,562.560,1096.268,266.536,33.332,1134.151,0.000,1080.712,0.000,16.546
$DEVICE_MAMPS,203.255,107.380,700.271,578.318,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,455.080,0.000,0.000,0.000,0.000,0.000,0.000,8556.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,36.827,51.000
$DATA_FILE_SIZE,18964,677
$CFSIZE,260034560,245354496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111007,005723,4743.174,-12250.809,12,3.7,31,18.3