version: 66.02
glider: 116
mission: 6
dive: 181
start: 10 3 107 17 42 54
data:
$ID,116
$MISSION,6
$DIVE,181
$D_SURF,2
$D_FLARE,2
$D_TGT,95
$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,40
$T_MISSION,70
$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,150
$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,400
$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,-33239.43
$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,15
$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
$GPS1,173439,4742.835,-12250.949,10,1.6,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-62.1
$GPS2,174144,4742.871,-12250.919,13,1.6,13,18.3
$SPEED_LIMITS,0.137,0.240
$TGT_NAME,7_GN
$TGT_LATLONG,4743.035,-12250.898
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.025,0.135
$KALMAN_X,29245.4,-105.7,-100.6,-26004.3,-17.1
$KALMAN_Y,22415.4,-333.6,89.5,-14534.4,62.1
$MHEAD_RNG_PITCHd_Wd,352.0,305,-26.9,-7.917
$D_GRID,161
$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,32,-2.30,-44.5,0.0,0.0,0,114,0.00,0.00,-78.75,0.000,2,0.000,0.000,133,1006,3300
$GC,118,-2.34,-80.5,2.0,-3.6,13,149,14.55,1.65,-10.70,0.000,4,0.211,0.108,2389,165,3609
$GC,400,-2.35,-90.3,26.8,-6.7,49,407,0.00,1.52,-0.50,0.000,6,0.000,0.044,2389,1006,3652
$GC,597,-2.36,-93.7,40.7,-7.5,65,601,0.00,1.62,-0.12,0.000,4,0.000,0.101,2389,164,3668
$GC,853,-2.36,-93.7,61.7,-8.5,84,860,0.00,1.50,0.00,0.000,6,0.000,0.044,2389,997,3668
$GC,1050,-2.36,-93.7,77.2,-8.0,100,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,997,3667
$GC,1242,-2.36,-93.7,93.2,-8.6,115,1246,0.00,2.50,0.00,0.000,4,0.000,0.042,2389,2416,3667
$STATE,1259,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1259,begin apogee
$GC,1266,-0.42,0.0,95.1,8.2,116,1383,2.17,0.00,112.03,0.646,6,0.124,0.000,2806,2511,3281
$STATE,1385,end apogee,CONTROL_FINISHED_OK
$STATE,1385,begin climb
$GC,1390,2.36,93.7,97.0,0.0,126,1515,2.75,2.65,109.30,0.622,4,0.057,0.049,3420,1093,2900
$GC,1542,2.36,93.7,78.6,17.1,138,1546,0.00,2.55,0.00,0.000,6,0.000,0.040,3420,2514,2899
$GC,1737,2.36,93.7,43.9,18.1,153,1742,0.00,2.58,0.00,0.000,4,0.000,0.070,3420,3887,2899
$GC,1830,2.36,93.7,26.4,18.9,160,1835,0.00,2.45,0.00,0.000,6,0.000,0.036,3420,2493,2898
$STATE,2004,end climb,SURFACE_DEPTH_REACHED
$STATE,2004,begin surface coast
$FINISH,0.1,1.014929
$STATE,2025,end surface coast,CONTROL_FINISHED_OK
$STATE,2025,begin surface
$SM_CCo,2061,134.50,0.566,0,0,1650,400.08
$SM_GC,0.89,0.00,0.00,134.50,0.000,0.000,0.566,133,1002,1650,-12.76,0.06,400.08
$IRIDIUM_FIX,4726.11,-12253.53,031007,202003
$TT8_MAMPS,0.068263
$HUMID,2134
$INTERNAL_PRESSURE,11.4848
$TCM_TEMP,19.70
$XPDR_PINGS,121
$24V_AH,23.8,35.706
$10V_AH,10.1,22.079
$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,34.650,21.950,221.325,134.500,0.000,40.848,41.964,188.493,30.500,29.050,2683.950,13.975,359.095,1013.672,438.723,380.658,456.301,33.341,672.061,0.000,358.795,0.000,2.495
$DEVICE_MAMPS,210.925,108.147,645.814,566.046,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,122.224,0.000,0.000,0.000,0.000,0.000,0.000,2713.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3302,186
$CFSIZE,260034560,251621376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031007,182037,4743.026,-12250.951,29,1.0,29,18.3