version: 66.02
glider: 116
mission: 6
dive: 184
start: 10 3 107 20 20 13
data:
$ID,116
$MISSION,6
$DIVE,184
$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,-33285.973
$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,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
$GPS1,201209,4743.514,-12250.773,13,1.5,13,18.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-58.4
$GPS2,201903,4743.540,-12250.714,14,1.5,14,18.3
$SPEED_LIMITS,0.137,0.240
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.125,0.056
$KALMAN_X,29334.9,-54.3,-105.8,-25882.9,71.6
$KALMAN_Y,22348.2,-181.9,53.2,-13342.5,3.9
$MHEAD_RNG_PITCHd_Wd,275.8,45,-26.9,-7.917
$D_GRID,167
$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,-44.5,0.0,0.0,0,120,0.00,0.00,-84.75,0.000,2,0.000,0.000,133,1010,3452
$GC,124,-2.33,-74.5,2.4,-4.3,14,149,14.62,1.65,-3.75,0.000,4,0.213,0.108,2393,166,3584
$GC,295,-2.35,-88.2,18.7,-6.3,40,301,0.00,1.50,-0.82,0.000,6,0.000,0.044,2392,998,3643
$GC,372,-2.36,-95.0,24.0,-7.1,48,374,0.00,0.00,-0.38,0.000,6,0.000,0.000,2392,998,3672
$GC,566,-2.36,-99.1,37.2,-7.4,63,571,0.00,2.47,-0.12,0.000,4,0.000,0.051,2392,2412,3687
$GC,599,-2.37,-104.1,39.9,-7.3,65,604,0.00,2.55,-0.22,0.000,6,0.000,0.049,2392,996,3711
$GC,794,-2.37,-104.1,55.6,-8.7,80,799,0.00,2.50,0.00,0.000,4,0.000,0.038,2392,2412,3711
$GC,894,-2.37,-104.1,64.1,-8.8,87,898,0.00,2.58,0.00,0.000,6,0.000,0.050,2392,993,3713
$GC,1089,-2.37,-104.1,81.7,-9.2,102,1094,0.00,2.50,0.00,0.000,4,0.000,0.039,2393,2413,3711
$GC,1190,-2.37,-104.1,90.5,-8.8,109,1194,0.00,2.58,0.00,0.000,6,0.000,0.050,2392,992,3711
$STATE,1244,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1244,begin apogee
$GC,1253,-0.42,0.0,95.9,9.7,113,1384,2.15,0.00,124.75,0.647,6,0.123,0.000,2807,2513,3281
$STATE,1387,end apogee,CONTROL_FINISHED_OK
$STATE,1388,begin climb
$GC,1391,2.37,104.1,98.0,0.0,124,1524,2.78,2.65,122.32,0.617,4,0.057,0.072,3423,3891,2856
$GC,1571,2.37,104.1,73.4,19.7,139,1575,0.00,2.47,0.00,0.000,6,0.000,0.037,3423,2491,2856
$GC,1767,2.37,104.1,36.6,18.9,154,1771,0.00,2.62,0.00,0.000,4,0.000,0.065,3423,3891,2856
$GC,1839,2.37,104.1,22.6,18.6,159,1844,0.00,2.42,0.00,0.000,6,0.000,0.036,3423,2508,2858
$STATE,1968,end climb,SURFACE_DEPTH_REACHED
$STATE,1968,begin surface coast
$FINISH,0.2,1.012763
$STATE,1983,end surface coast,CONTROL_FINISHED_OK
$STATE,1983,begin surface
$SM_CCo,2018,129.75,0.563,0,0,1649,400.08
$SM_GC,0.91,0.00,0.00,129.75,0.000,0.000,0.563,135,1008,1649,-12.74,0.23,400.08
$IRIDIUM_FIX,4726.11,-12248.15,031007,232321
$TT8_MAMPS,0.072098
$HUMID,2135
$INTERNAL_PRESSURE,11.4848
$TCM_TEMP,19.70
$XPDR_PINGS,112
$24V_AH,23.9,36.006
$10V_AH,10.0,22.282
$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,34.650,34.025,247.075,129.750,0.000,37.347,38.453,191.068,28.250,8.300,2676.700,14.503,354.558,968.804,467.635,350.461,449.487,33.337,694.353,0.000,332.079,0.000,2.494
$DEVICE_MAMPS,213.226,108.147,646.581,562.978,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,117.336,0.000,0.000,0.000,0.000,0.000,0.000,2685.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3324,179
$CFSIZE,260034560,251531264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031007,205707,4743.628,-12250.883,12,1.0,28,18.3