version: 66.02
glider: 116
mission: 6
dive: 138
start: 10 2 107 0 41 6
data:
$ID,116
$MISSION,6
$DIVE,138
$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,-32214.912
$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,22
$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
$GPS1,003308,4738.819,-12253.467,8,1.4,13,18.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-62.5
$GPS2,003956,4738.868,-12253.319,13,1.4,13,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.137,-0.045
$KALMAN_X,18835.4,68.0,124.1,-18986.6,238.2
$KALMAN_Y,13601.1,41.6,93.1,-13513.0,82.9
$MHEAD_RNG_PITCHd_Wd,233.5,17,-27.0,-8.333
$D_GRID,138
$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,-2.31,-48.0,0.0,0.0,0,105,0.00,0.00,-72.40,0.000,2,0.000,0.000,136,989,3234
$GC,109,-2.35,-82.4,2.1,-4.3,12,145,14.23,0.00,-15.02,0.000,6,0.204,0.000,2387,989,3617
$GC,211,-2.38,-106.9,6.4,-5.5,28,217,0.00,0.00,-2.45,0.000,6,0.000,0.000,2387,989,3716
$GC,284,-2.38,-106.9,13.6,-12.1,39,289,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,989,3718
$GC,355,-2.38,-106.9,21.8,-10.7,49,356,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,989,3718
$GC,546,-2.38,-106.9,39.4,-8.6,64,550,0.00,2.50,0.00,0.000,4,0.000,0.041,2386,2412,3718
$GC,796,-2.38,-106.9,62.8,-9.5,82,803,0.00,2.58,0.00,0.000,6,0.000,0.051,2387,1005,3718
$GC,992,-2.38,-106.9,82.1,-9.4,98,994,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1004,3718
$GC,1184,-2.38,-106.9,99.4,-9.3,113,1185,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1005,3718
$STATE,1194,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1194,begin apogee
$GC,1203,-0.42,0.0,100.6,9.5,114,1335,2.17,0.00,126.50,0.645,6,0.123,0.000,2810,2515,3281
$STATE,1338,end apogee,CONTROL_FINISHED_OK
$STATE,1338,begin climb
$GC,1341,2.38,106.9,103.2,0.0,125,1473,2.78,0.00,125.30,0.618,6,0.053,0.000,3429,2515,2845
$GC,1657,2.38,106.9,53.1,18.7,151,1658,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,2515,2845
$GC,1848,2.38,106.9,18.3,17.2,166,1854,0.00,2.58,0.00,0.000,4,0.000,0.070,3429,3892,2845
$STATE,1940,end climb,SURFACE_DEPTH_REACHED
$STATE,1940,begin surface coast
$FINISH,0.1,1.019356
$STATE,1945,end surface coast,CONTROL_FINISHED_OK
$STATE,1945,begin surface
$SM_CCo,1979,134.20,0.567,0,0,1649,400.08
$SM_GC,0.91,0.00,0.00,134.20,0.000,0.000,0.567,136,995,1649,-12.74,-0.14,400.08
$IRIDIUM_FIX,4722.92,-12251.79,021007,030352
$TT8_MAMPS,0.06903
$HUMID,2122
$INTERNAL_PRESSURE,11.4848
$TCM_TEMP,19.70
$XPDR_PINGS,114
$24V_AH,23.9,30.932
$10V_AH,10.1,18.905
$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,34.325,15.650,251.800,134.200,0.000,40.456,35.958,194.340,29.000,0.000,2628.000,13.079,336.720,974.630,482.030,327.909,430.369,33.334,685.511,0.000,310.117,0.000,4.056
$DEVICE_MAMPS,204.022,69.797,645.047,566.813,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,118.348,0.000,0.000,0.000,0.000,0.000,0.000,2628.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3306,181
$CFSIZE,260034560,252993536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,011729,4738.820,-12253.467,12,3.1,31,18.3