version: 66.02
glider: 116
mission: 6
dive: 278
start: 10 7 107 14 33 39
data:
$ID,116
$MISSION,6
$DIVE,278
$D_SURF,2
$D_FLARE,2
$D_TGT,95
$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,45
$T_MISSION,90
$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,130
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$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,-35405.508
$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,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
$GPS1,141750,4743.209,-12250.900,7,1.7,13,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-58.3
$GPS2,143227,4743.368,-12250.949,15,1.4,15,18.3
$SPEED_LIMITS,0.193,0.216
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.077,-0.202
$KALMAN_X,32997.3,-161.9,-42.6,-29792.8,-84.2
$KALMAN_Y,24907.3,673.3,183.2,-17213.9,103.9
$MHEAD_RNG_PITCHd_Wd,140.8,611,-13.3,-7.037
$D_GRID,166
$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,33,-1.27,-127.1,0.0,0.0,0,112,0.00,0.00,-77.50,0.000,2,0.000,0.000,136,1008,3249
$GC,117,-1.27,-127.1,2.0,-1.7,13,166,16.17,2.58,-22.70,0.000,4,0.215,0.053,2622,2425,3800
$GC,345,-1.27,-127.1,11.9,-5.4,48,351,0.00,2.58,0.00,0.000,6,0.000,0.049,2622,1001,3801
$GC,419,-1.27,-127.1,16.5,-6.4,59,425,0.00,1.65,0.00,0.000,4,0.000,0.097,2623,159,3801
$GC,453,-1.27,-127.1,18.4,-5.6,64,459,0.00,1.52,0.00,0.000,6,0.000,0.048,2622,997,3801
$GC,525,-1.27,-127.1,22.3,-5.5,72,529,0.00,2.50,0.00,0.000,4,0.000,0.041,2622,2417,3801
$GC,625,-1.27,-127.1,27.6,-4.8,79,629,0.00,2.58,0.00,0.000,6,0.000,0.051,2623,1002,3801
$GC,823,-1.27,-127.1,39.0,-6.0,94,828,0.00,2.50,0.00,0.000,4,0.000,0.040,2622,2417,3801
$GC,1082,-1.27,-127.1,52.5,-5.1,113,1086,0.00,2.58,0.00,0.000,6,0.000,0.051,2623,999,3801
$GC,1279,-1.27,-127.1,63.1,-5.3,128,1283,0.00,2.50,0.00,0.000,4,0.000,0.039,2623,2419,3801
$GC,1530,-1.27,-127.1,75.3,-4.6,146,1536,0.00,2.58,0.00,0.000,6,0.000,0.051,2622,998,3801
$GC,1726,-1.27,-127.1,84.6,-4.9,162,1731,0.00,2.50,0.00,0.000,4,0.000,0.040,2622,2417,3801
$GC,1832,-1.27,-127.1,89.6,-4.8,169,1839,0.00,2.58,0.00,0.000,6,0.000,0.051,2622,998,3802
$STATE,1963,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1963,begin apogee
$GC,1974,-0.42,0.0,95.6,4.5,180,2128,0.90,0.00,150.60,0.650,6,0.092,0.000,2808,2518,3281
$STATE,2133,end apogee,CONTROL_FINISHED_OK
$STATE,2133,begin climb
$GC,2136,1.27,127.1,96.3,0.0,193,2297,1.70,2.62,148.77,0.619,4,0.061,0.049,3178,1093,2761
$GC,2391,1.27,127.1,74.6,10.3,213,2396,0.00,2.55,0.00,0.000,6,0.000,0.041,3177,2512,2761
$GC,2590,1.27,127.1,56.3,9.5,228,2591,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2512,2761
$GC,2780,1.27,127.1,38.2,9.9,243,2781,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2512,2760
$GC,2969,1.27,127.1,21.4,8.3,258,2973,0.00,2.58,0.00,0.000,4,0.000,0.073,3177,3890,2760
$GC,3009,1.27,127.1,17.5,8.7,263,3015,0.00,2.45,0.00,0.000,6,0.000,0.037,3177,2488,2760
$GC,3083,1.27,127.1,11.8,7.7,274,3089,0.00,2.47,0.00,0.000,4,0.000,0.051,3177,1107,2761
$STATE,3192,end climb,SURFACE_DEPTH_REACHED
$STATE,3192,begin surface coast
$FINISH,0.6,1.013609
$STATE,3213,end surface coast,CONTROL_FINISHED_OK
$STATE,3213,begin surface
$SM_CCo,3246,120.43,0.575,0,0,1650,400.08
$SM_GC,1.23,0.00,0.00,120.43,0.000,0.000,0.575,136,1013,1650,-12.74,0.28,400.08
$IRIDIUM_FIX,4726.11,-12252.58,071007,181812
$TT8_MAMPS,0.072098
$HUMID,2127
$INTERNAL_PRESSURE,11.4653
$TCM_TEMP,19.70
$XPDR_PINGS,182
$24V_AH,23.9,46.266
$10V_AH,10.0,29.656
$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,32.550,44.225,299.375,120.425,0.000,116.374,258.803,212.407,45.750,0.000,4368.000,15.220,543.210,1777.542,514.815,586.247,849.468,33.341,867.645,0.000,559.797,0.000,2.496
$DEVICE_MAMPS,214.760,96.642,649.649,575.250,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,194.188,0.000,0.000,0.000,0.000,0.000,0.000,4368.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,32.963,51.000
$DATA_FILE_SIZE,9579,294
$CFSIZE,260034560,248340480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,153059,4743.178,-12250.919,14,3.1,33,18.3