version: 66.02
glider: 116
mission: 6
dive: 396
start: 10 11 107 14 25 32
data:
$ID,116
$MISSION,6
$DIVE,396
$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,50
$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,150
$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,15
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-38448.551
$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,14
$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,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
$GPS1,141021,4741.684,-12251.566,14,1.7,14,18.3
$_CALLS,3
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-64.8
$GPS2,142421,4741.655,-12251.588,13,1.7,13,18.3
$SPEED_LIMITS,0.148,0.247
$TGT_NAME,PT4
$TGT_LATLONG,4441.500,-12251.167
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.024,-0.208
$KALMAN_X,27857.4,-222.1,-2.7,-25427.1,-45.9
$KALMAN_Y,41780.6,7716.8,2691.0,-46834.1,-1868.6
$MHEAD_RNG_PITCHd_Wd,155.2,333648,-18.6,-8.571
$D_GRID,130
$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,-1.67,-101.4,0.0,0.0,0,114,0.00,0.00,-76.90,0.000,2,0.000,0.000,135,997,3061
$GC,119,-1.73,-146.6,2.2,-1.6,13,180,15.23,2.53,-37.92,0.000,4,0.206,0.050,2525,2423,3879
$GC,434,-1.73,-146.6,24.8,-8.3,57,438,0.00,2.58,0.00,0.000,6,0.000,0.056,2525,992,3881
$GC,638,-1.73,-146.6,40.2,-7.5,73,642,0.00,2.53,0.00,0.000,4,0.000,0.038,2525,2424,3881
$GC,898,-1.73,-146.6,59.3,-7.8,92,902,0.00,2.60,0.00,0.000,6,0.000,0.048,2525,992,3881
$GC,1102,-1.73,-146.6,75.6,-7.3,108,1106,0.00,2.53,0.00,0.000,4,0.000,0.038,2525,2423,3881
$STATE,1304,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1304,begin apogee
$GC,1314,-0.42,0.0,90.2,7.1,123,1495,1.45,0.00,172.45,0.643,6,0.107,0.000,2810,2519,3281
$STATE,1497,end apogee,CONTROL_FINISHED_OK
$STATE,1497,begin climb
$GC,1501,1.73,146.6,91.1,0.0,138,1683,2.15,2.62,170.82,0.607,4,0.058,0.048,3281,1094,2683
$GC,1730,1.73,146.6,64.5,15.8,156,1737,0.00,2.53,0.00,0.000,6,0.000,0.040,3281,2507,2683
$GC,1927,1.73,146.6,36.2,13.7,172,1929,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,2507,2682
$GC,2121,1.73,146.6,9.6,12.6,193,2127,0.00,2.62,0.00,0.000,4,0.000,0.073,3281,3893,2682
$STATE,2184,end climb,SURFACE_DEPTH_REACHED
$STATE,2184,begin surface coast
$FINISH,1.1,1.001588
$STATE,2202,end surface coast,CONTROL_FINISHED_OK
$STATE,2202,begin surface
$SM_CCo,2240,133.93,0.565,0,0,1445,450.13
$SM_GC,1.81,0.00,0.00,133.93,0.000,0.000,0.565,135,994,1445,-12.74,-0.14,450.13
$IRIDIUM_FIX,4726.11,-12242.00,111007,181858
$TT8_MAMPS,0.072098
$HUMID,2102
$INTERNAL_PRESSURE,11.4653
$TCM_TEMP,19.70
$XPDR_PINGS,113
$24V_AH,23.8,59.542
$10V_AH,10.1,37.786
$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,33.175,25.975,343.275,133.925,0.000,117.574,268.015,226.889,28.500,37.360,3298.640,13.464,361.116,1027.212,551.292,424.216,877.095,33.330,824.595,0.000,402.863,0.000,2.495
$DEVICE_MAMPS,206.323,72.865,642.746,564.512,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,133.556,0.000,0.000,0.000,0.000,0.000,0.000,3336.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,36.827,51.000
$DATA_FILE_SIZE,6465,205
$CFSIZE,260034560,244850688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111007,150623,4741.477,-12251.706,15,2.6,34,18.3