version: 66.02
glider: 116
mission: 6
dive: 141
start: 10 2 107 2 50 7
data:
$ID,116
$MISSION,6
$DIVE,141
$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,-32273.156
$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,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
$GPS1,024303,4738.842,-12253.437,14,1.4,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-62.3
$GPS2,024857,4738.889,-12253.290,11,1.5,11,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.148,-0.075
$KALMAN_X,19945.3,32.4,40.0,-19941.8,304.3
$KALMAN_Y,14160.2,41.8,-61.1,-13880.1,141.5
$MHEAD_RNG_PITCHd_Wd,224.9,67,-23.3,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,31,-2.02,-63.6,0.0,0.0,0,104,0.00,0.00,-70.68,0.000,2,0.000,0.000,133,1001,3202
$GC,108,-2.08,-116.6,2.0,-3.7,12,151,14.68,2.53,-21.70,0.000,4,0.206,0.052,2445,2423,3758
$GC,192,-2.11,-141.5,5.5,-6.1,25,203,0.00,2.58,-2.70,0.000,6,0.000,0.048,2445,1000,3859
$GC,272,-2.11,-141.5,12.7,-11.3,37,277,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1000,3860
$GC,350,-2.11,-141.5,21.9,-11.2,48,351,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1000,3860
$GC,541,-2.11,-141.5,42.6,-10.4,63,545,0.00,2.50,0.00,0.000,4,0.000,0.040,2445,2415,3860
$GC,737,-2.11,-141.5,63.8,-10.7,77,744,0.00,2.58,0.00,0.000,6,0.000,0.051,2445,995,3860
$GC,934,-2.11,-141.5,84.9,-10.3,93,935,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,995,3860
$STATE,1083,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1083,begin apogee
$GC,1095,-0.42,0.0,100.5,10.8,105,1272,1.85,0.00,167.48,0.642,6,0.117,0.000,2810,2512,3281
$STATE,1273,end apogee,CONTROL_FINISHED_OK
$STATE,1273,begin climb
$GC,1276,2.11,141.5,103.2,0.0,120,1453,2.50,0.00,166.05,0.610,6,0.054,0.000,3368,2512,2703
$GC,1640,2.11,141.5,46.9,18.1,150,1641,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,2512,2703
$GC,1831,2.11,141.5,14.6,14.7,167,1837,0.00,2.58,0.00,0.000,4,0.000,0.070,3368,3888,2703
$GC,1870,2.11,141.5,8.2,16.0,173,1877,0.00,2.45,0.00,0.000,6,0.000,0.037,3368,2492,2703
$STATE,1907,end climb,SURFACE_DEPTH_REACHED
$STATE,1907,begin surface coast
$FINISH,0.1,1.008641
$STATE,1915,end surface coast,CONTROL_FINISHED_OK
$STATE,1915,begin surface
$SM_CCo,1949,113.78,0.564,0,0,1650,400.08
$SM_GC,0.97,0.00,0.00,113.78,0.000,0.000,0.564,134,1006,1650,-12.75,0.17,400.08
$IRIDIUM_FIX,4719.74,-12254.47,021007,060624
$TT8_MAMPS,0.066729
$HUMID,2138
$INTERNAL_PRESSURE,11.4848
$TCM_TEMP,19.70
$XPDR_PINGS,98
$24V_AH,23.9,31.204
$10V_AH,10.1,19.075
$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,33.725,20.700,333.525,113.775,0.000,38.468,31.731,149.658,25.000,0.000,2556.000,11.348,318.129,884.110,530.220,330.054,384.062,33.338,757.784,0.000,315.276,0.000,4.055
$DEVICE_MAMPS,205.556,69.797,641.979,563.745,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,116.433,0.000,0.000,0.000,0.000,0.000,0.000,2556.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3296,180
$CFSIZE,260034560,252907520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,032515,4738.889,-12253.442,8,1.5,8,18.3