version: 66.02
glider: 116
mission: 6
dive: 367
start: 10 10 107 15 20 29
data:
$ID,116
$MISSION,6
$DIVE,367
$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,-37710.695
$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
$GPS1,151135,4742.962,-12250.715,12,3.0,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-64.2
$GPS2,151920,4742.990,-12250.666,15,1.7,32,18.3
$SPEED_LIMITS,0.148,0.239
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.082,0.123
$KALMAN_X,30187.2,179.7,-16.1,-27000.8,-51.4
$KALMAN_Y,24118.8,291.5,-73.5,-16474.2,-96.9
$MHEAD_RNG_PITCHd_Wd,307.9,218,-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,42,end surface,CONTROL_FINISHED_OK
$STATE,42,begin dive
$GC,46,-2.31,-50.1,0.0,0.0,0,131,0.00,0.00,-82.47,0.000,2,0.000,0.000,137,992,3150
$GC,136,-2.38,-101.6,2.3,-2.7,14,180,14.45,1.67,-23.88,0.000,4,0.211,0.109,2381,164,3696
$GC,431,-2.38,-101.6,27.5,-9.1,53,437,0.00,1.50,0.00,0.000,6,0.000,0.042,2381,1004,3698
$GC,628,-2.38,-101.9,43.6,-8.5,69,632,0.00,1.65,0.00,0.000,4,0.000,0.085,2381,163,3698
$GC,820,-2.38,-101.9,61.1,-8.9,83,826,0.00,1.50,0.00,0.000,6,0.000,0.041,2380,1008,3697
$GC,1018,-2.38,-106.0,77.1,-8.1,99,1023,0.00,2.45,-0.12,0.000,4,0.000,0.050,2381,2411,3717
$STATE,1176,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1176,begin apogee
$GC,1186,-0.42,0.0,90.3,8.2,110,1318,2.20,0.00,127.07,0.644,6,0.123,0.000,2808,2509,3281
$STATE,1321,end apogee,CONTROL_FINISHED_OK
$STATE,1322,begin climb
$GC,1326,2.38,106.0,91.6,0.0,121,1460,2.78,2.70,124.62,0.617,4,0.054,0.071,3429,3890,2848
$GC,1533,2.38,106.0,60.7,20.9,137,1537,0.00,2.45,0.00,0.000,6,0.000,0.036,3429,2496,2849
$GC,1730,2.38,106.0,21.4,19.2,152,1734,0.00,2.60,0.00,0.000,4,0.000,0.066,3429,3884,2847
$STATE,1832,end climb,SURFACE_DEPTH_REACHED
$STATE,1832,begin surface coast
$FINISH,0.8,1.001946
$STATE,1847,end surface coast,CONTROL_FINISHED_OK
$STATE,1847,begin surface
$SM_CCo,1894,152.07,0.564,0,0,1445,450.13
$SM_GC,1.38,0.00,0.00,152.07,0.000,0.000,0.564,137,1010,1445,-12.73,0.28,450.13
$IRIDIUM_FIX,4726.11,-12246.42,101007,181823
$TT8_MAMPS,0.070564
$HUMID,2084
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,19.60
$XPDR_PINGS,55
$24V_AH,23.9,56.009
$10V_AH,10.0,35.874
$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,34.625,21.925,251.700,152.075,0.000,39.545,32.536,193.856,14.000,0.000,2652.000,32.085,304.759,878.259,499.058,366.967,488.069,33.338,716.633,0.000,329.208,0.000,2.494
$DEVICE_MAMPS,210.925,108.914,644.280,563.745,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,109.441,0.000,0.000,0.000,0.000,0.000,1724.890,2652.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,36.827,51.000
$DATA_FILE_SIZE,3321,168
$CFSIZE,260034560,245690368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101007,155527,4743.089,-12250.811,10,1.7,10,18.3