version: 66.02
glider: 116
mission: 6
dive: 152
start: 10 2 107 13 30 13
data:
$ID,116
$MISSION,6
$DIVE,152
$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,-32542.486
$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,15
$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
$GPS1,132231,4739.025,-12253.181,36,1.0,42,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-59.0
$GPS2,132903,4739.066,-12253.077,11,1.8,11,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.126,-0.128
$KALMAN_X,23781.8,399.4,185.1,-24024.9,-15.2
$KALMAN_Y,18181.7,481.2,254.8,-18328.7,-59.1
$MHEAD_RNG_PITCHd_Wd,206.2,488,-21.4,-8.333
$D_GRID,134
$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,-1.87,-74.6,0.0,0.0,0,112,0.00,0.00,-78.05,0.000,2,0.000,0.000,132,1009,3306
$GC,115,-1.93,-119.4,2.2,-5.0,13,152,15.10,0.00,-14.88,0.000,6,0.211,0.000,2479,1009,3770
$GC,219,-1.94,-128.7,9.3,-7.6,29,225,0.00,2.50,-0.73,0.000,4,0.000,0.052,2479,2421,3806
$GC,479,-1.95,-133.9,31.8,-7.9,57,486,0.00,2.58,-0.28,0.000,6,0.000,0.051,2479,1001,3832
$GC,675,-1.95,-133.9,49.0,-8.7,73,679,0.00,2.47,0.00,0.000,4,0.000,0.040,2479,2415,3832
$GC,796,-1.95,-133.9,58.9,-8.4,82,800,0.00,2.58,0.00,0.000,6,0.000,0.052,2479,1000,3832
$GC,992,-1.95,-133.9,76.3,-9.2,97,996,0.00,2.50,0.00,0.000,4,0.000,0.040,2479,2415,3832
$GC,1056,-1.95,-133.9,82.6,-10.1,101,1063,0.00,2.58,0.00,0.000,6,0.000,0.052,2479,999,3832
$STATE,1238,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1238,begin apogee
$GC,1248,-0.42,0.0,100.1,9.7,116,1413,1.67,0.00,159.02,0.650,6,0.115,0.000,2810,2514,3281
$STATE,1414,end apogee,CONTROL_FINISHED_OK
$STATE,1414,begin climb
$GC,1417,1.95,133.9,103.1,0.0,130,1587,2.35,2.65,157.43,0.615,4,0.059,0.049,3330,1093,2734
$GC,1612,1.95,133.9,79.6,16.9,146,1619,0.00,2.55,0.00,0.000,6,0.000,0.039,3331,2514,2734
$GC,1809,1.95,133.9,47.2,16.5,162,1813,0.00,2.60,0.00,0.000,4,0.000,0.071,3330,3895,2734
$GC,1875,1.95,133.9,35.8,17.3,167,1879,0.00,2.47,0.00,0.000,6,0.000,0.037,3330,2488,2734
$GC,2075,1.95,133.9,5.3,13.9,189,2081,0.00,2.65,0.00,0.000,4,0.000,0.069,3330,3895,2733
$STATE,2099,end climb,SURFACE_DEPTH_REACHED
$STATE,2099,begin surface coast
$FINISH,0.4,1.021267
$STATE,2113,end surface coast,CONTROL_FINISHED_OK
$STATE,2113,begin surface
$SM_CCo,2150,119.10,0.568,0,0,1650,400.08
$SM_GC,0.87,0.00,0.00,119.10,0.000,0.000,0.568,133,1004,1650,-12.75,0.14,400.08
$IRIDIUM_FIX,4719.74,-12254.47,021007,161611
$TT8_MAMPS,0.066729
$HUMID,2143
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,19.60
$XPDR_PINGS,110
$24V_AH,23.9,32.388
$10V_AH,10.1,19.900
$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,33.825,36.150,316.450,119.100,0.000,37.089,32.362,181.564,28.000,20.750,2782.250,11.140,359.239,999.036,531.388,373.499,425.516,33.342,773.197,0.000,357.797,0.000,4.055
$DEVICE_MAMPS,210.925,71.331,650.416,568.347,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,126.995,0.000,0.000,0.000,0.000,0.000,0.000,2803.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6447,195
$CFSIZE,260034560,252555264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,140851,4738.913,-12253.266,11,1.8,11,18.3