version: 66.02
glider: 116
mission: 6
dive: 325
start: 10 9 107 11 1 43
data:
$ID,116
$MISSION,6
$DIVE,325
$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,35
$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,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,-36605.59
$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,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
$GPS1,105307,4743.002,-12250.780,10,1.7,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-64.8
$GPS2,110033,4742.984,-12250.795,12,1.7,12,18.3
$SPEED_LIMITS,0.148,0.239
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.018,0.147
$KALMAN_X,28582.3,-142.9,76.8,-25325.9,-11.2
$KALMAN_Y,22219.1,-223.0,66.8,-14216.3,-10.3
$MHEAD_RNG_PITCHd_Wd,334.7,125,-27.0,-8.571
$D_GRID,163
$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,35,end surface,CONTROL_FINISHED_OK
$STATE,35,begin dive
$GC,39,-2.31,-50.1,0.0,0.0,0,124,0.00,0.00,-82.65,0.000,2,0.000,0.000,135,989,3152
$GC,129,-2.37,-98.5,2.2,-3.0,14,172,14.45,2.55,-22.88,0.000,4,0.208,0.049,2384,2417,3682
$GC,405,-2.37,-98.5,25.3,-8.8,52,409,0.00,2.58,0.00,0.000,6,0.000,0.049,2384,1001,3684
$GC,601,-2.38,-108.5,40.5,-7.4,67,604,0.00,0.00,-0.45,0.000,6,0.000,0.000,2384,1002,3728
$GC,790,-2.38,-108.5,56.7,-9.0,82,795,0.00,2.53,0.00,0.000,4,0.000,0.039,2384,2416,3729
$GC,1049,-2.38,-108.5,79.2,-8.9,101,1053,0.00,2.58,0.00,0.000,6,0.000,0.050,2384,1001,3730
$STATE,1173,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1173,begin apogee
$GC,1184,-0.42,0.0,90.7,9.0,111,1323,2.20,0.00,130.18,0.644,6,0.120,0.000,2811,2513,3280
$STATE,1326,end apogee,CONTROL_FINISHED_OK
$STATE,1326,begin climb
$GC,1330,2.38,108.5,91.3,0.0,123,1470,2.75,2.65,127.15,0.614,4,0.054,0.048,3427,1101,2838
$GC,1477,2.38,108.5,71.5,18.3,135,1483,0.00,2.55,0.00,0.000,6,0.000,0.040,3427,2512,2837
$GC,1674,2.38,108.5,33.9,19.3,151,1678,0.00,2.60,0.00,0.000,4,0.000,0.070,3427,3893,2837
$STATE,1836,end climb,SURFACE_DEPTH_REACHED
$STATE,1836,begin surface coast
$FINISH,0.7,1.001872
$STATE,1856,end surface coast,CONTROL_FINISHED_OK
$STATE,1856,begin surface
$SM_CCo,1899,150.98,0.561,0,0,1446,450.13
$SM_GC,1.35,0.00,0.00,150.98,0.000,0.000,0.561,135,996,1446,-12.74,-0.06,450.13
$IRIDIUM_FIX,4726.11,-12248.15,091007,141413
$TT8_MAMPS,0.071331
$HUMID,2074
$INTERNAL_PRESSURE,11.4653
$TCM_TEMP,19.70
$XPDR_PINGS,81
$24V_AH,23.9,51.607
$10V_AH,10.0,33.416
$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,34.650,26.050,257.325,150.975,0.000,39.211,33.608,160.585,20.500,98.400,2538.600,12.813,300.042,897.038,499.441,347.828,463.016,33.338,722.502,0.000,328.705,0.000,2.496
$DEVICE_MAMPS,207.857,69.797,643.513,561.444,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,112.030,0.000,0.000,0.000,0.000,0.000,2497.620,2637.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,36.827,51.000
$DATA_FILE_SIZE,3319,172
$CFSIZE,260034560,246857728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091007,113645,4743.128,-12250.828,11,1.9,11,18.3