version: 66.02
glider: 116
mission: 6
dive: 400
start: 10 11 107 17 56 29
data:
$ID,116
$MISSION,6
$DIVE,400
$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,-38543.852
$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,19
$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
$GPS1,174703,4740.811,-12251.495,12,1.3,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-65.0
$GPS2,175523,4740.793,-12251.503,11,2.6,30,18.3
$SPEED_LIMITS,0.148,0.247
$TGT_NAME,PT6
$TGT_LATLONG,4739.500,-12251.500
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.030,-0.229
$KALMAN_X,27797.0,-183.3,-67.3,-25239.7,64.1
$KALMAN_Y,47243.2,5503.9,-1266.3,-47711.7,-505.7
$MHEAD_RNG_PITCHd_Wd,169.1,2395,-16.4,-8.571
$D_GRID,98
$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,38,-1.52,-126.7,0.0,0.0,0,111,0.00,0.00,-70.82,0.000,2,0.000,0.000,137,991,2932
$GC,116,-1.55,-146.6,2.0,-1.0,12,184,15.35,1.67,-47.95,0.000,4,0.203,0.110,2562,166,3879
$GC,437,-1.55,-146.6,22.8,-8.3,58,443,0.00,1.50,0.00,0.000,6,0.000,0.044,2563,1002,3880
$GC,634,-1.55,-146.6,37.0,-7.2,74,638,0.00,1.62,0.00,0.000,4,0.000,0.086,2563,163,3880
$GC,689,-1.55,-146.6,41.1,-7.5,78,692,0.00,1.50,0.00,0.000,6,0.000,0.044,2562,997,3880
$GC,893,-1.55,-146.6,54.8,-6.7,94,897,0.00,2.47,0.00,0.000,4,0.000,0.040,2563,2412,3880
$GC,1131,-1.55,-146.6,70.2,-6.3,111,1137,0.00,2.55,0.00,0.000,6,0.000,0.049,2563,1000,3880
$GC,1329,-1.55,-146.6,84.4,-7.2,127,1333,0.00,2.50,0.00,0.000,4,0.000,0.038,2563,2419,3880
$STATE,1405,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1405,begin apogee
$GC,1415,-0.42,0.0,90.1,7.3,132,1597,1.23,0.00,173.55,0.639,6,0.102,0.000,2809,2517,3281
$STATE,1598,end apogee,CONTROL_FINISHED_OK
$STATE,1598,begin climb
$GC,1603,1.55,146.6,91.8,0.0,147,1784,1.95,2.62,171.90,0.607,4,0.057,0.049,3243,1092,2682
$GC,1845,1.55,146.6,65.4,13.5,166,1851,0.00,2.53,0.00,0.000,6,0.000,0.040,3242,2505,2682
$GC,2042,1.55,146.6,40.3,12.9,182,2046,0.00,2.62,0.00,0.000,4,0.000,0.074,3242,3895,2681
$GC,2174,1.55,146.6,22.9,14.5,191,2178,0.00,2.45,0.00,0.000,6,0.000,0.036,3242,2493,2681
$STATE,2356,end climb,SURFACE_DEPTH_REACHED
$STATE,2356,begin surface coast
$FINISH,1.1,1.010146
$STATE,2381,end surface coast,CONTROL_FINISHED_OK
$STATE,2381,begin surface
$SM_CCo,2416,133.98,0.566,0,0,1445,450.13
$SM_GC,1.73,0.00,0.00,133.98,0.000,0.000,0.566,134,1005,1445,-12.75,0.14,450.13
$IRIDIUM_FIX,4722.92,-12249.11,111007,202036
$TT8_MAMPS,0.066729
$HUMID,2123
$INTERNAL_PRESSURE,11.4555
$TCM_TEMP,19.60
$XPDR_PINGS,133
$24V_AH,23.9,59.996
$10V_AH,10.1,38.074
$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,32.825,26.950,345.450,133.975,0.000,39.595,39.017,214.888,33.500,0.000,3107.000,31.387,389.647,1096.208,560.165,463.819,562.078,33.334,843.803,0.000,425.249,0.000,2.497
$DEVICE_MAMPS,203.255,110.448,638.911,566.046,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,143.593,0.000,0.000,0.000,0.000,0.000,0.000,3107.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,36.827,51.000
$DATA_FILE_SIZE,6440,220
$CFSIZE,260034560,244727808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111007,184011,4740.560,-12251.528,10,2.8,29,18.3