version: 66.02
glider: 116
mission: 6
dive: 319
start: 10 9 107 6 43 12
data:
$ID,116
$MISSION,6
$DIVE,319
$D_SURF,2
$D_FLARE,2
$D_TGT,90
$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,30
$T_MISSION,45
$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,140
$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,-36500.145
$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,24
$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
$GPS1,063037,4743.102,-12250.825,11,1.3,27,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-64.8
$GPS2,064203,4743.072,-12250.843,13,1.6,13,18.3
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.077,-0.155
$KALMAN_X,28763.6,-343.5,-59.0,-25228.3,11.8
$KALMAN_Y,22537.9,-383.4,-99.6,-14042.4,-7.4
$MHEAD_RNG_PITCHd_Wd,135.1,53,-27.2,-10.000
$D_GRID,164
$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,-2.35,-63.1,0.0,0.0,0,121,0.00,0.00,-83.03,0.000,2,0.000,0.000,133,1004,3172
$GC,126,-2.43,-129.4,2.2,-3.0,14,175,14.60,1.67,-26.80,0.000,4,0.213,0.110,2370,170,3809
$GC,427,-2.43,-129.4,34.8,-12.0,51,431,0.00,1.50,0.00,0.000,6,0.000,0.043,2370,1001,3810
$GC,630,-2.43,-129.4,57.5,-11.7,67,634,0.00,1.65,0.00,0.000,4,0.000,0.085,2370,160,3811
$GC,848,-2.43,-129.4,84.4,-11.5,83,854,0.00,1.50,0.00,0.000,6,0.000,0.044,2370,996,3811
$STATE,903,end dive,TARGET_DEPTH_EXCEEDED
$STATE,903,begin apogee
$GC,914,-0.42,0.0,91.0,11.8,88,1077,2.28,0.00,153.15,0.649,6,0.121,0.000,2810,2509,3282
$STATE,1080,end apogee,CONTROL_FINISHED_OK
$STATE,1080,begin climb
$GC,1084,2.43,129.4,94.1,0.0,102,1245,2.80,2.70,150.40,0.622,4,0.054,0.072,3438,3882,2753
$GC,1296,2.43,129.4,60.6,22.3,119,1300,0.00,2.45,0.00,0.000,6,0.000,0.037,3438,2498,2753
$GC,1492,2.43,129.4,19.4,20.7,134,1498,0.00,2.65,0.00,0.000,4,0.000,0.068,3438,3892,2752
$STATE,1588,end climb,SURFACE_DEPTH_REACHED
$STATE,1589,begin surface coast
$FINISH,0.7,1.002881
$STATE,1596,end surface coast,CONTROL_FINISHED_OK
$STATE,1596,begin surface
$SM_CCo,1643,141.48,0.560,0,0,1445,450.13
$SM_GC,1.33,0.00,0.00,141.48,0.000,0.000,0.560,135,1004,1445,-12.74,0.11,450.13
$IRIDIUM_FIX,4729.30,-12248.15,091007,101014
$TT8_MAMPS,0.070564
$HUMID,2096
$INTERNAL_PRESSURE,11.4653
$TCM_TEMP,19.80
$XPDR_PINGS,64
$24V_AH,23.3,50.916
$10V_AH,10.0,33.008
$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,35.025,22.150,303.550,141.475,0.000,82.712,125.394,191.389,16.250,84.430,2520.570,13.587,252.918,744.575,527.282,319.179,627.427,33.329,745.175,0.000,300.055,0.000,2.495
$DEVICE_MAMPS,213.226,109.681,648.882,559.910,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,96.488,0.000,0.000,0.000,0.000,0.000,2216.170,2605.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,36.827,51.000
$DATA_FILE_SIZE,3310,150
$CFSIZE,260034560,247046144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091007,071407,4742.977,-12250.640,14,1.8,30,18.3