version: 66.02
glider: 116
mission: 6
dive: 374
start: 10 10 107 20 25 3
data:
$ID,116
$MISSION,6
$DIVE,374
$D_SURF,2
$D_FLARE,2
$D_TGT,45
$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,30
$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,-37852.992
$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,14
$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,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
$GPS1,201221,4742.983,-12250.796,11,1.6,11,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-64.3
$GPS2,202357,4742.946,-12250.804,16,1.6,16,18.3
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.011,0.252
$KALMAN_X,29633.1,-96.4,-75.7,-26281.2,-25.7
$KALMAN_Y,23430.3,-120.3,-140.5,-15389.1,-51.4
$MHEAD_RNG_PITCHd_Wd,344.3,192,-18.1,-10.000
$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,36,end surface,CONTROL_FINISHED_OK
$STATE,36,begin dive
$GC,40,-1.68,-136.9,0.0,0.0,0,120,0.00,0.00,-77.28,0.000,2,0.000,0.000,133,996,3057
$GC,125,-1.68,-136.9,2.1,-1.6,13,186,15.02,2.55,-37.22,0.000,4,0.200,0.049,2535,2421,3841
$GC,439,-1.68,-136.9,22.4,-7.8,59,444,0.00,2.58,0.00,0.000,6,0.000,0.048,2535,999,3842
$GC,637,-1.68,-136.9,38.1,-7.8,74,641,0.00,2.47,0.00,0.000,4,0.000,0.038,2535,2414,3842
$STATE,732,end dive,TARGET_DEPTH_EXCEEDED
$STATE,732,begin apogee
$GC,742,-0.42,0.0,45.2,6.9,81,906,1.38,0.00,160.15,0.612,6,0.104,0.000,2808,2515,3281
$STATE,925,end apogee,CONTROL_FINISHED_OK
$STATE,925,begin climb
$GC,929,1.68,136.9,46.7,0.0,95,1099,2.10,2.65,158.12,0.581,4,0.058,0.048,3271,1095,2723
$GC,1237,1.68,136.9,11.9,13.4,123,1243,0.00,2.53,0.00,0.000,6,0.000,0.038,3270,2512,2722
$GC,1310,1.68,136.9,3.6,10.7,134,1316,0.00,2.58,0.00,0.000,4,0.000,0.070,3271,3887,2722
$STATE,1327,end climb,SURFACE_DEPTH_REACHED
$STATE,1327,begin surface coast
$FINISH,0.9,1.002225
$STATE,1350,end surface coast,CONTROL_FINISHED_OK
$STATE,1350,begin surface
$SM_CCo,1411,137.38,0.548,0,0,1446,450.13
$SM_GC,1.57,0.00,0.00,137.38,0.000,0.000,0.548,132,995,1446,-12.75,-0.14,450.13
$IRIDIUM_FIX,4726.11,-12255.26,111007,000041
$TT8_MAMPS,0.090506
$HUMID,2052
$INTERNAL_PRESSURE,11.4653
$TCM_TEMP,19.80
$XPDR_PINGS,0
$24V_AH,23.9,56.698
$10V_AH,10.0,36.283
$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,32.850,20.775,318.275,137.375,0.000,70.292,94.923,251.412,0.000,0.000,2359.000,16.440,231.346,521.651,533.571,287.530,676.472,33.338,737.150,0.000,265.847,0.000,0.935
$DEVICE_MAMPS,200.187,69.797,612.066,548.405,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,89.473,0.000,0.000,0.000,0.000,0.000,0.000,2359.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,36.827,51.000
$DATA_FILE_SIZE,3316,140
$CFSIZE,260034560,245506048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101007,205204,4742.946,-12250.688,11,6.8,30,18.3