version: 66.02
glider: 116
mission: 6
dive: 131
start: 10 1 107 19 37 5
data:
$ID,116
$MISSION,6
$DIVE,131
$D_SURF,2
$D_FLARE,2
$D_TGT,100
$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,40
$T_MISSION,70
$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,400
$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,-32094.621
$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,17
$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
$GPS1,192951,4738.850,-12253.390,11,1.8,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-62.3
$GPS2,193556,4738.888,-12253.279,12,1.8,17,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.125,-0.085
$KALMAN_X,16543.6,202.6,6.3,-16662.3,234.4
$KALMAN_Y,12592.7,54.6,46.0,-12432.9,164.8
$MHEAD_RNG_PITCHd_Wd,217.6,78,-25.8,-8.333
$D_GRID,137
$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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,30,-2.21,-52.5,0.0,0.0,0,120,0.00,0.00,-84.80,0.000,6,0.000,0.000,134,1004,3494
$GC,126,-2.29,-114.8,2.0,-1.7,15,157,14.77,2.53,-8.15,0.000,4,0.216,0.053,2402,2421,3749
$GC,164,-2.32,-139.3,4.8,-5.7,21,176,0.00,2.58,-2.83,0.000,6,0.000,0.048,2403,1002,3851
$GC,246,-2.32,-139.3,11.6,-10.4,33,252,0.00,2.50,0.00,0.000,4,0.000,0.041,2403,2417,3851
$GC,325,-2.32,-139.3,20.9,-11.8,45,329,0.00,2.58,0.00,0.000,6,0.000,0.050,2403,998,3853
$GC,527,-2.32,-139.3,47.4,-12.6,61,532,0.00,2.53,0.00,0.000,4,0.000,0.041,2403,2424,3852
$GC,600,-2.32,-139.3,56.1,-11.7,66,604,0.00,2.58,0.00,0.000,6,0.000,0.051,2403,1002,3852
$GC,802,-2.32,-139.3,80.0,-11.4,82,806,0.00,2.50,0.00,0.000,4,0.000,0.041,2403,2417,3852
$GC,853,-2.32,-139.3,86.5,-12.2,85,860,0.00,2.60,0.00,0.000,6,0.000,0.051,2403,1005,3852
$STATE,973,end dive,TARGET_DEPTH_EXCEEDED
$STATE,973,begin apogee
$GC,982,-0.42,0.0,100.9,11.8,95,1159,2.10,0.00,165.00,0.641,6,0.126,0.000,2809,2519,3281
$STATE,1160,end apogee,CONTROL_FINISHED_OK
$STATE,1160,begin climb
$GC,1163,2.32,139.3,104.2,0.0,110,1335,2.72,0.00,163.07,0.613,6,0.057,0.000,3416,2520,2713
$GC,1525,2.32,139.3,45.0,19.7,139,1529,0.00,2.58,0.00,0.000,4,0.000,0.071,3416,3890,2713
$GC,1664,2.32,139.3,15.6,18.8,150,1670,0.00,2.45,0.00,0.000,6,0.000,0.037,3416,2491,2713
$STATE,1734,end climb,SURFACE_DEPTH_REACHED
$STATE,1734,begin surface coast
$FINISH,0.3,1.020286
$STATE,1741,end surface coast,CONTROL_FINISHED_OK
$STATE,1741,begin surface
$SM_CCo,1773,115.28,0.564,0,0,1649,400.08
$SM_GC,0.90,0.00,0.00,115.28,0.000,0.000,0.564,133,1005,1649,-12.75,0.14,400.08
$IRIDIUM_FIX,4719.74,-12254.47,011007,222254
$TT8_MAMPS,0.066729
$HUMID,2137
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,19.70
$XPDR_PINGS,91
$24V_AH,23.9,30.280
$10V_AH,10.1,18.501
$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,34.825,30.900,328.075,115.275,0.000,39.401,32.154,154.526,23.250,4.150,2362.850,17.243,297.220,749.443,536.605,315.747,383.709,33.352,754.576,0.000,294.467,0.000,4.055
$DEVICE_MAMPS,215.527,70.564,641.212,563.745,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,104.339,0.000,0.000,0.000,0.000,0.000,0.000,2367.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3318,162
$CFSIZE,260034560,253194240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,200921,4738.801,-12253.400,11,1.6,11,18.3