version: 66.02
glider: 116
mission: 6
dive: 134
start: 10 1 107 21 45 7
data:
$ID,116
$MISSION,6
$DIVE,134
$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,-32153.621
$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,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
$GPS1,213745,4738.873,-12253.418,13,1.6,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-67.2
$GPS2,214357,4738.920,-12253.312,16,1.5,16,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.115,-0.087
$KALMAN_X,17420.1,145.7,97.4,-17614.3,245.2
$KALMAN_Y,12950.8,44.3,165.3,-12841.4,105.8
$MHEAD_RNG_PITCHd_Wd,214.8,102,-27.0,-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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,31,-2.31,-48.0,0.0,0.0,0,120,0.00,0.00,-82.78,0.000,6,0.000,0.000,134,1006,3477
$GC,126,-2.38,-111.4,2.2,-1.0,15,157,14.40,2.53,-7.72,0.000,4,0.209,0.052,2379,2414,3737
$GC,199,-2.38,-111.4,8.7,-9.2,26,205,0.00,2.58,0.00,0.000,6,0.000,0.050,2378,997,3738
$GC,271,-2.38,-111.4,15.8,-11.2,37,278,0.00,2.50,0.00,0.000,4,0.000,0.040,2379,2417,3738
$GC,528,-2.38,-111.4,43.8,-10.3,59,535,0.00,2.60,0.00,0.000,6,0.000,0.050,2379,981,3738
$GC,725,-2.38,-111.4,63.7,-10.3,75,729,0.00,2.55,0.00,0.000,4,0.000,0.040,2379,2423,3738
$GC,842,-2.38,-111.4,75.1,-9.5,83,849,0.00,2.62,0.00,0.000,6,0.000,0.052,2379,1003,3738
$GC,1041,-2.38,-111.4,94.1,-9.2,99,1044,0.00,1.65,0.00,0.000,4,0.000,0.097,2379,160,3738
$STATE,1097,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1097,begin apogee
$GC,1107,-0.42,0.0,100.6,10.9,103,1246,2.22,0.00,132.23,0.645,6,0.124,0.000,2811,2515,3281
$STATE,1250,end apogee,CONTROL_FINISHED_OK
$STATE,1250,begin climb
$GC,1252,2.38,111.4,103.2,0.0,115,1395,2.75,2.62,130.43,0.618,4,0.054,0.071,3429,3891,2826
$GC,1448,2.38,111.4,75.5,21.4,130,1453,0.00,2.47,0.00,0.000,6,0.000,0.038,3429,2489,2826
$GC,1644,2.38,111.4,38.3,18.9,145,1648,0.00,2.62,0.00,0.000,4,0.000,0.066,3429,3890,2826
$STATE,1832,end climb,SURFACE_DEPTH_REACHED
$STATE,1832,begin surface coast
$FINISH,0.2,1.019446
$STATE,1840,end surface coast,CONTROL_FINISHED_OK
$STATE,1840,begin surface
$SM_CCo,1877,126.97,0.562,0,0,1649,400.08
$SM_GC,0.82,0.00,0.00,126.97,0.000,0.000,0.562,135,1010,1649,-12.74,0.28,400.08
$IRIDIUM_FIX,4719.74,-12254.47,021007,000048
$TT8_MAMPS,0.070564
$HUMID,2134
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,19.60
$XPDR_PINGS,99
$24V_AH,23.9,30.552
$10V_AH,10.1,18.672
$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,34.575,34.300,262.650,126.975,0.000,38.041,37.467,158.726,25.250,12.450,2486.550,16.035,318.419,847.918,481.469,366.922,391.285,33.341,716.449,0.000,341.198,0.000,4.054
$DEVICE_MAMPS,209.391,97.409,645.047,562.211,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,108.511,0.000,0.000,0.000,0.000,0.000,0.000,2499.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3315,167
$CFSIZE,260034560,253108224
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,221937,4738.850,-12253.373,13,1.2,29,18.3