version: 66.02
glider: 116
mission: 6
dive: 137
start: 10 1 107 23 56 55
data:
$ID,116
$MISSION,6
$DIVE,137
$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,-32201.205
$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,16
$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
$GPS1,234639,4738.835,-12253.456,8,1.4,8,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-66.0
$GPS2,235545,4738.893,-12253.264,16,1.4,16,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.149,-0.058
$KALMAN_X,18543.5,73.9,122.2,-18630.4,271.7
$KALMAN_Y,13472.6,38.1,131.9,-13374.3,92.5
$MHEAD_RNG_PITCHd_Wd,230.5,99,-24.3,-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,31,-2.10,-58.5,0.0,0.0,0,99,0.00,0.00,-66.40,0.000,2,0.000,0.000,133,1005,3108
$GC,103,-2.15,-99.2,2.1,-4.4,11,146,14.55,0.00,-23.30,0.000,6,0.205,0.000,2430,1005,3685
$GC,212,-2.19,-127.6,5.7,-5.6,28,224,0.00,2.55,-3.05,0.000,4,0.000,0.053,2430,2417,3804
$GC,350,-2.19,-127.6,19.8,-10.8,49,356,0.00,2.58,0.00,0.000,6,0.000,0.050,2431,996,3805
$GC,419,-2.19,-127.6,26.9,-10.2,55,421,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,996,3805
$GC,611,-2.19,-127.6,46.2,-10.4,70,615,0.00,2.50,0.00,0.000,4,0.000,0.041,2431,2422,3805
$GC,758,-2.19,-127.6,60.8,-10.0,81,762,0.00,2.58,0.00,0.000,6,0.000,0.051,2431,1000,3805
$GC,956,-2.19,-127.6,80.9,-10.1,96,957,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,1000,3805
$GC,1145,-2.19,-127.6,99.6,-9.5,111,1149,0.00,2.50,0.00,0.000,4,0.000,0.041,2431,2418,3805
$STATE,1155,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1155,begin apogee
$GC,1162,-0.42,0.0,101.0,9.5,112,1321,1.92,0.00,151.30,0.642,6,0.117,0.000,2805,2514,3281
$STATE,1322,end apogee,CONTROL_FINISHED_OK
$STATE,1322,begin climb
$GC,1325,2.19,127.6,102.9,0.0,125,1485,2.60,0.00,149.57,0.613,6,0.055,0.000,3385,2514,2760
$GC,1675,2.19,127.6,50.8,17.4,153,1676,0.00,0.00,0.00,0.000,6,0.000,0.000,3385,2514,2759
$GC,1862,2.19,127.6,18.7,16.0,168,1869,0.00,2.58,0.00,0.000,4,0.000,0.071,3385,3887,2759
$STATE,1959,end climb,SURFACE_DEPTH_REACHED
$STATE,1959,begin surface coast
$FINISH,0.2,1.020079
$STATE,1966,end surface coast,CONTROL_FINISHED_OK
$STATE,1967,begin surface
$SM_CCo,2002,119.90,0.564,0,0,1649,400.08
$SM_GC,0.96,0.00,0.00,119.90,0.000,0.000,0.564,136,989,1649,-12.74,-0.31,400.08
$IRIDIUM_FIX,4719.74,-12251.79,021007,030350
$TT8_MAMPS,0.066729
$HUMID,2136
$INTERNAL_PRESSURE,11.4848
$TCM_TEMP,19.70
$XPDR_PINGS,106
$24V_AH,23.9,30.843
$10V_AH,10.1,18.848
$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,33.825,20.750,300.875,119.900,0.000,77.934,116.983,152.192,27.000,0.000,2780.000,16.569,336.337,1013.604,503.664,333.752,511.273,33.337,721.380,0.000,312.435,0.000,4.066
$DEVICE_MAMPS,204.789,70.564,641.979,563.745,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,119.979,0.000,0.000,0.000,0.000,0.000,0.000,2780.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3323,184
$CFSIZE,260034560,253022208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,003308,4738.819,-12253.467,8,1.4,13,18.3