version: 66.02
glider: 116
mission: 6
dive: 327
start: 10 9 107 12 38 26
data:
$ID,116
$MISSION,6
$DIVE,327
$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,-36659.172
$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,23
$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
$GPS1,122053,4743.009,-12250.685,9,4.1,28,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-64.5
$GPS2,123717,4742.993,-12250.702,16,2.7,35,18.3
$SPEED_LIMITS,0.148,0.239
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.126,0.079
$KALMAN_X,28594.4,-76.0,37.6,-25250.9,27.1
$KALMAN_Y,22162.8,-151.7,48.3,-14198.3,0.8
$MHEAD_RNG_PITCHd_Wd,283.9,178,-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,34,end surface,CONTROL_FINISHED_OK
$STATE,34,begin dive
$GC,39,-2.31,-50.1,0.0,0.0,0,124,0.00,0.00,-82.82,0.000,2,0.000,0.000,134,1007,3147
$GC,129,-2.38,-102.6,2.1,-2.5,14,177,14.38,2.55,-24.40,0.000,4,0.206,0.051,2385,2415,3700
$GC,430,-2.39,-112.3,27.4,-7.5,54,435,0.00,2.58,-0.50,0.000,6,0.000,0.048,2385,1000,3745
$GC,626,-2.39,-112.3,45.2,-9.3,69,630,0.00,2.53,0.00,0.000,4,0.000,0.038,2385,2419,3743
$GC,884,-2.39,-112.3,68.4,-8.9,88,890,0.00,2.58,0.00,0.000,6,0.000,0.049,2385,1000,3743
$GC,1081,-2.39,-112.3,87.6,-9.7,104,1085,0.00,2.50,0.00,0.000,4,0.000,0.038,2385,2414,3743
$STATE,1111,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1111,begin apogee
$GC,1120,-0.42,0.0,90.7,9.4,106,1259,2.20,0.00,133.82,0.645,6,0.121,0.000,2811,2512,3281
$STATE,1263,end apogee,CONTROL_FINISHED_OK
$STATE,1263,begin climb
$GC,1267,2.39,112.3,92.0,0.0,118,1407,2.78,2.67,131.05,0.614,4,0.053,0.048,3432,1090,2823
$GC,1474,2.39,112.3,61.8,19.6,134,1479,0.00,2.58,0.00,0.000,6,0.000,0.040,3430,2512,2823
$GC,1671,2.39,112.3,24.0,19.4,149,1675,0.00,2.60,0.00,0.000,4,0.000,0.070,3430,3896,2822
$STATE,1794,end climb,SURFACE_DEPTH_REACHED
$STATE,1794,begin surface coast
$FINISH,0.6,1.000634
$STATE,1808,end surface coast,CONTROL_FINISHED_OK
$STATE,1808,begin surface
$SM_CCo,1854,149.15,0.561,0,0,1445,450.13
$SM_GC,1.34,0.00,0.00,149.15,0.000,0.000,0.561,134,987,1445,-12.75,-0.37,450.13
$IRIDIUM_FIX,4726.11,-12250.84,091007,161614
$TT8_MAMPS,0.072865
$HUMID,2096
$INTERNAL_PRESSURE,11.4555
$TCM_TEMP,19.70
$XPDR_PINGS,86
$24V_AH,23.8,51.863
$10V_AH,10.0,33.565
$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,34.650,26.050,264.875,149.150,0.000,117.544,121.965,363.977,21.750,96.630,3028.370,36.715,293.868,965.034,499.107,379.549,859.989,33.338,727.695,0.000,333.326,0.000,2.499
$DEVICE_MAMPS,205.556,69.797,645.047,561.444,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,109.283,0.000,0.000,0.000,0.000,0.000,2960.680,3125.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,36.827,51.000
$DATA_FILE_SIZE,3311,168
$CFSIZE,260034560,246788096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091007,131239,4743.100,-12250.786,9,1.7,9,18.3