version: 66.02
glider: 116
mission: 6
dive: 341
start: 10 9 107 21 47 48
data:
$ID,116
$MISSION,6
$DIVE,341
$D_SURF,2
$D_FLARE,2
$D_TGT,50
$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,40
$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,647.83728
$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,-37041.352
$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,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
$GPS1,212838,4743.098,-12250.811,9,1.5,20,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-59.4
$GPS2,214644,4743.170,-12250.759,16,4.0,35,18.3
$SPEED_LIMITS,0.192,0.262
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.079,-0.249
$KALMAN_X,28657.5,60.9,-11.7,-25472.1,3.0
$KALMAN_Y,21936.3,-47.4,-61.1,-13641.1,15.2
$MHEAD_RNG_PITCHd_Wd,179.4,235,-19.8,-11.111
$D_GRID,165
$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,-1.82,-136.9,0.0,0.0,0,128,0.00,0.00,-89.10,0.000,2,0.000,0.000,133,989,3264
$GC,136,-1.82,-136.9,2.4,-4.0,15,179,15.27,2.53,-20.12,0.000,4,0.211,0.050,2501,2421,3841
$GC,204,-1.82,-136.9,5.9,-7.3,25,210,0.00,2.55,0.00,0.000,6,0.000,0.048,2502,1001,3841
$GC,278,-1.82,-136.9,13.0,-9.7,36,285,0.00,2.47,0.00,0.000,4,0.000,0.038,2502,2416,3842
$GC,339,-1.82,-136.9,18.6,-8.0,45,345,0.00,2.55,0.00,0.000,6,0.000,0.048,2502,999,3842
$GC,411,-1.82,-136.9,24.3,-7.9,52,412,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,999,3841
$GC,605,-1.82,-136.9,39.5,-8.1,67,609,0.00,2.47,0.00,0.000,4,0.000,0.038,2501,2417,3842
$STATE,737,end dive,TARGET_DEPTH_EXCEEDED
$STATE,737,begin apogee
$GC,746,-0.42,0.0,50.5,8.1,76,915,1.55,0.00,160.75,0.614,6,0.110,0.000,2807,2517,3281
$STATE,916,end apogee,CONTROL_FINISHED_OK
$STATE,917,begin climb
$GC,920,1.82,136.9,53.2,0.0,90,1090,2.25,0.00,159.45,0.585,6,0.058,0.000,3309,2517,2723
$GC,1278,1.82,136.9,7.4,12.4,125,1284,0.00,2.55,0.00,0.000,4,0.000,0.070,3309,3882,2722
$STATE,1317,end climb,SURFACE_DEPTH_REACHED
$STATE,1317,begin surface coast
$FINISH,0.7,1.016380
$STATE,1329,end surface coast,CONTROL_FINISHED_OK
$STATE,1330,begin surface
$SM_CCo,1370,226.98,0.545,0,0,640,647.84
$SM_GC,1.10,0.00,0.00,226.98,0.000,0.000,0.545,135,993,640,-12.74,-0.20,647.84
$IRIDIUM_FIX,4726.11,-12252.58,101007,010117
$TT8_MAMPS,0.071331
$HUMID,2077
$INTERNAL_PRESSURE,11.3969
$TCM_TEMP,19.70
$XPDR_PINGS,39
$24V_AH,23.9,53.411
$10V_AH,10.1,34.408
$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,33.425,20.600,320.200,226.975,0.000,203.068,415.399,0.000,9.750,0.000,2718.000,36.352,235.943,694.462,633.342,269.376,871.271,33.326,825.524,0.000,239.160,0.000,0.935
$DEVICE_MAMPS,210.925,69.797,614.367,544.570,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,84.596,0.000,0.000,0.000,0.000,0.000,0.000,2718.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,36.827,51.000
$DATA_FILE_SIZE,3308,133
$CFSIZE,260034560,246358016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091007,221537,4743.099,-12250.801,31,1.1,31,18.3