version: 66.02
glider: 116
mission: 6
dive: 358
start: 10 10 107 8 53 11
data:
$ID,116
$MISSION,6
$DIVE,358
$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,-37459.16
$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,17
$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
$GPS1,084505,4743.049,-12250.842,14,2.8,33,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-61.7
$GPS2,085157,4743.088,-12250.809,16,1.2,16,18.3
$SPEED_LIMITS,0.148,0.239
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.006,-0.148
$KALMAN_X,29661.5,305.8,129.2,-26922.8,-4.7
$KALMAN_Y,23490.7,403.4,196.2,-16052.7,85.9
$MHEAD_RNG_PITCHd_Wd,163.9,72,-27.0,-8.571
$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,29,end surface,CONTROL_FINISHED_OK
$STATE,29,begin dive
$GC,34,-2.31,-50.1,0.0,0.0,0,119,0.00,0.00,-83.00,0.000,2,0.000,0.000,136,1004,3153
$GC,125,-2.38,-103.2,2.2,-2.5,14,168,14.88,2.55,-22.65,0.000,4,0.220,0.050,2382,2418,3702
$GC,387,-2.38,-104.6,22.7,-8.4,52,393,0.00,2.55,0.00,0.000,6,0.000,0.048,2382,1002,3703
$GC,585,-2.38,-104.6,39.3,-8.7,68,587,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1002,3704
$GC,777,-2.38,-106.2,55.5,-8.4,83,781,0.00,2.50,-0.10,0.000,4,0.000,0.049,2382,2423,3718
$GC,976,-2.38,-108.2,72.4,-8.3,97,982,0.00,2.58,0.00,0.000,6,0.000,0.048,2381,995,3718
$GC,1172,-2.38,-108.2,89.8,-8.9,113,1180,0.00,2.50,0.00,0.000,4,0.000,0.038,2382,2420,3719
$STATE,1185,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1185,begin apogee
$GC,1194,-0.42,0.0,91.1,9.2,114,1327,2.22,0.00,127.10,0.644,6,0.127,0.000,2811,2518,3281
$STATE,1331,end apogee,CONTROL_FINISHED_OK
$STATE,1331,begin climb
$GC,1335,2.38,108.2,92.7,0.0,125,1469,2.78,0.00,127.90,0.614,6,0.054,0.000,3428,2518,2839
$GC,1654,2.38,108.2,40.9,19.5,151,1658,0.00,2.58,0.00,0.000,4,0.000,0.071,3428,3890,2838
$GC,1767,2.38,108.2,17.4,20.5,159,1774,0.00,2.45,0.00,0.000,6,0.000,0.035,3428,2489,2838
$GC,1842,2.38,108.2,3.8,18.3,170,1848,0.00,2.60,0.00,0.000,4,0.000,0.064,3428,3883,2838
$STATE,1852,end climb,SURFACE_DEPTH_REACHED
$STATE,1852,begin surface coast
$FINISH,0.9,1.012884
$STATE,1860,end surface coast,CONTROL_FINISHED_OK
$STATE,1860,begin surface
$SM_CCo,1901,150.68,0.560,0,0,1445,450.13
$SM_GC,1.42,0.00,0.00,150.68,0.000,0.000,0.560,133,1011,1445,-12.75,0.37,450.13
$IRIDIUM_FIX,4726.11,-12250.84,101007,121203
$TT8_MAMPS,0.067496
$HUMID,2105
$INTERNAL_PRESSURE,11.4458
$TCM_TEMP,19.70
$XPDR_PINGS,98
$24V_AH,23.9,55.188
$10V_AH,10.0,35.349
$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,35.000,25.700,255.000,150.675,0.000,39.331,30.268,163.810,24.750,0.000,2593.000,16.236,324.191,858.320,517.673,330.769,464.447,33.329,725.658,0.000,309.143,0.000,2.506
$DEVICE_MAMPS,220.129,70.564,643.513,559.910,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,112.566,0.000,0.000,0.000,0.000,0.000,0.000,2593.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,36.827,51.000
$DATA_FILE_SIZE,3318,173
$CFSIZE,260034560,245932032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101007,092832,4742.978,-12250.786,10,1.6,27,18.3