version: 66.02
glider: 116
mission: 6
dive: 357
start: 10 10 107 8 6 47
data:
$ID,116
$MISSION,6
$DIVE,357
$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,50
$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,-37442.297
$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,20
$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
$GPS1,075817,4743.157,-12250.806,11,2.4,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-61.3
$GPS2,080535,4743.201,-12250.776,16,2.4,35,18.3
$SPEED_LIMITS,0.148,0.239
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.037,-0.186
$KALMAN_X,29624.6,294.2,141.5,-26846.4,27.7
$KALMAN_Y,23352.2,368.7,200.5,-15676.7,113.3
$MHEAD_RNG_PITCHd_Wd,173.1,284,-20.9,-8.571
$D_GRID,166
$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,29,end surface,CONTROL_FINISHED_OK
$STATE,29,begin dive
$GC,34,-1.84,-81.8,0.0,0.0,0,120,0.00,0.00,-83.18,0.000,2,0.000,0.000,135,1010,3153
$GC,125,-1.91,-136.9,2.1,-2.4,14,180,15.52,2.53,-29.88,0.000,4,0.219,0.051,2483,2415,3839
$GC,288,-1.91,-136.9,12.5,-8.2,39,294,0.00,2.58,0.00,0.000,6,0.000,0.048,2483,995,3839
$GC,361,-1.91,-136.9,18.7,-8.7,50,367,0.00,2.50,0.00,0.000,4,0.000,0.038,2483,2415,3840
$GC,456,-1.91,-136.9,26.5,-7.7,58,460,0.00,2.58,0.00,0.000,6,0.000,0.048,2483,995,3840
$GC,653,-1.91,-136.9,43.2,-8.5,73,657,0.00,2.50,0.00,0.000,4,0.000,0.038,2483,2416,3840
$GC,719,-1.91,-136.9,48.9,-8.5,77,725,0.00,2.55,0.00,0.000,6,0.000,0.048,2483,1000,3840
$GC,916,-1.91,-136.9,65.2,-8.3,93,921,0.00,2.50,0.00,0.000,4,0.000,0.038,2483,2422,3840
$GC,1096,-1.91,-136.9,80.3,-8.7,106,1100,0.00,2.58,0.00,0.000,6,0.000,0.049,2483,999,3840
$STATE,1214,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1214,begin apogee
$GC,1226,-0.42,0.0,91.1,8.9,115,1397,1.65,0.00,162.65,0.637,6,0.114,0.000,2811,2510,3281
$STATE,1398,end apogee,CONTROL_FINISHED_OK
$STATE,1398,begin climb
$GC,1402,1.91,136.9,93.8,0.0,129,1572,2.30,0.00,160.95,0.607,6,0.058,0.000,3321,2509,2723
$GC,1762,1.91,136.9,45.3,16.5,158,1767,0.00,2.60,0.00,0.000,4,0.000,0.071,3321,3890,2723
$GC,1802,1.91,136.9,37.7,16.9,160,1809,0.00,2.45,0.00,0.000,6,0.000,0.036,3321,2491,2723
$GC,2003,1.91,136.9,6.2,15.4,182,2008,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2490,2722
$STATE,2032,end climb,SURFACE_DEPTH_REACHED
$STATE,2032,begin surface coast
$FINISH,0.8,1.013594
$STATE,2047,end surface coast,CONTROL_FINISHED_OK
$STATE,2047,begin surface
$SM_CCo,2085,137.93,0.561,0,0,1446,450.13
$SM_GC,1.46,0.00,0.00,137.93,0.000,0.000,0.561,135,1004,1446,-12.73,0.11,450.13
$IRIDIUM_FIX,4729.30,-12413.37,101007,111151
$TT8_MAMPS,0.06903
$HUMID,2112
$INTERNAL_PRESSURE,11.4555
$TCM_TEMP,19.60
$XPDR_PINGS,105
$24V_AH,23.9,55.098
$10V_AH,10.1,35.292
$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,33.900,30.800,323.600,137.925,0.000,33.776,35.056,168.846,26.500,0.000,2805.000,36.864,339.298,919.095,564.030,386.327,480.070,33.327,805.132,0.000,346.187,0.000,2.495
$DEVICE_MAMPS,219.362,71.331,636.610,561.444,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,122.508,0.000,0.000,0.000,0.000,0.000,0.000,2805.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,36.827,51.000
$DATA_FILE_SIZE,3314,189
$CFSIZE,260034560,245956608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101007,084505,4743.049,-12250.842,14,2.8,33,18.3