version: 66.02
glider: 116
mission: 6
dive: 314
start: 10 9 107 1 3 58
data:
$ID,116
$MISSION,6
$DIVE,314
$D_SURF,2
$D_FLARE,2
$D_TGT,45
$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,15
$T_MISSION,30
$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,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,450
$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,-36348.25
$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,17
$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,3
$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
$GPS1,005237,4742.703,-12251.244,13,1.9,23,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-63.0
$GPS2,010247,4742.660,-12251.314,15,2.4,34,18.3
$SPEED_LIMITS,0.173,0.244
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.161,0.183
$KALMAN_X,29521.2,-379.4,-184.8,-26411.0,-23.4
$KALMAN_Y,23529.8,-390.2,-210.5,-15679.3,-24.0
$MHEAD_RNG_PITCHd_Wd,22.9,952,-18.9,-10.000
$D_GRID,154
$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,31,end surface,CONTROL_FINISHED_OK
$STATE,31,begin dive
$GC,36,-1.73,-127.1,0.0,0.0,0,121,0.00,0.00,-83.03,0.000,2,0.000,0.000,135,989,3172
$GC,126,-1.73,-127.1,2.1,-2.5,14,174,15.43,0.00,-26.20,0.000,6,0.212,0.000,2521,989,3801
$GC,242,-1.73,-127.1,7.7,-7.8,32,248,0.00,2.53,0.00,0.000,4,0.000,0.040,2521,2420,3802
$GC,355,-1.73,-127.1,17.4,-9.6,49,361,0.00,2.58,0.00,0.000,6,0.000,0.049,2522,996,3802
$GC,427,-1.73,-127.1,23.0,-7.1,57,431,0.00,1.62,0.00,0.000,4,0.000,0.092,2522,170,3802
$GC,460,-1.73,-127.1,25.4,-7.1,59,466,0.00,1.50,0.00,0.000,6,0.000,0.044,2522,1005,3802
$GC,657,-1.73,-127.1,38.9,-7.3,75,661,0.00,2.47,0.00,0.000,4,0.000,0.040,2521,2423,3802
$STATE,746,end dive,TARGET_DEPTH_EXCEEDED
$STATE,746,begin apogee
$GC,755,-0.42,0.0,45.2,6.5,82,909,1.42,0.00,149.12,0.610,6,0.107,0.000,2805,2521,3281
$STATE,912,end apogee,CONTROL_FINISHED_OK
$STATE,912,begin climb
$GC,916,1.73,127.1,46.4,0.0,95,1074,2.17,2.62,146.82,0.584,4,0.058,0.049,3282,1097,2762
$GC,1114,1.73,127.1,25.9,13.7,111,1118,0.00,2.53,0.00,0.000,6,0.000,0.041,3282,2506,2763
$STATE,1307,end climb,SURFACE_DEPTH_REACHED
$STATE,1308,begin surface coast
$FINISH,0.7,1.013641
$STATE,1322,end surface coast,CONTROL_FINISHED_OK
$STATE,1322,begin surface
$SM_CCo,1360,141.75,0.549,0,0,1445,450.13
$SM_GC,1.40,0.00,0.00,141.75,0.000,0.000,0.549,132,990,1445,-12.76,-0.28,450.13
$IRIDIUM_FIX,4726.11,-12253.53,091007,040438
$TT8_MAMPS,0.075933
$HUMID,2044
$INTERNAL_PRESSURE,11.4653
$TCM_TEMP,19.70
$XPDR_PINGS,56
$24V_AH,23.9,50.267
$10V_AH,10.0,32.502
$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,33.375,18.825,295.950,141.750,0.000,41.189,39.376,257.559,14.000,0.000,2246.000,34.954,238.376,474.262,514.797,300.270,596.597,33.319,717.598,0.000,259.205,0.000,0.935
$DEVICE_MAMPS,211.692,92.040,609.765,549.172,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,88.979,0.000,0.000,0.000,0.000,0.000,2130.070,2246.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,36.827,51.000
$DATA_FILE_SIZE,3316,139
$CFSIZE,260034560,247209984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091007,012951,4742.697,-12251.252,10,1.8,10,18.3