version: 66.02
glider: 116
mission: 6
dive: 185
start: 10 3 107 21 9 7
data:
$ID,116
$MISSION,6
$DIVE,185
$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,-33303.328
$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,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
$GPS1,205707,4743.628,-12250.883,12,1.0,28,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-60.1
$GPS2,210757,4743.676,-12250.759,16,1.2,16,18.3
$SPEED_LIMITS,0.137,0.240
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.054,-0.126
$KALMAN_X,29489.2,-20.5,-69.5,-26166.2,142.6
$KALMAN_Y,22419.6,-120.3,23.0,-13196.8,21.1
$MHEAD_RNG_PITCHd_Wd,184.8,213,-26.9,-7.917
$D_GRID,168
$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,37,end surface,CONTROL_FINISHED_OK
$STATE,37,begin dive
$GC,41,-2.30,-44.5,0.0,0.0,0,121,0.00,0.00,-77.78,0.000,2,0.000,0.000,135,1008,3286
$GC,125,-2.33,-76.3,2.1,-4.1,13,156,14.75,0.00,-11.32,0.000,6,0.217,0.000,2390,1007,3593
$GC,222,-2.33,-76.3,8.9,-9.6,28,228,0.00,2.50,0.00,0.000,4,0.000,0.041,2390,2424,3594
$GC,480,-2.36,-94.5,26.5,-5.7,59,486,0.00,2.58,-0.98,0.000,6,0.000,0.048,2390,996,3672
$GC,676,-2.37,-107.6,39.7,-6.3,75,681,0.00,2.50,-0.47,0.000,4,0.000,0.050,2390,2416,3721
$GC,925,-2.37,-107.6,60.5,-8.5,93,932,0.00,2.58,0.00,0.000,6,0.000,0.050,2390,996,3721
$GC,1124,-2.37,-107.6,78.0,-8.9,109,1128,0.00,2.50,0.00,0.000,4,0.000,0.039,2390,2417,3721
$GC,1202,-2.37,-107.6,85.1,-8.2,114,1208,0.00,2.58,0.00,0.000,6,0.000,0.049,2390,996,3721
$STATE,1320,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1320,begin apogee
$GC,1329,-0.42,0.0,96.0,9.5,124,1463,2.15,0.00,127.80,0.646,6,0.123,0.000,2809,2515,3281
$STATE,1466,end apogee,CONTROL_FINISHED_OK
$STATE,1466,begin climb
$GC,1469,2.37,107.6,97.9,0.0,135,1601,2.78,0.00,126.57,0.617,6,0.056,0.000,3425,2515,2842
$GC,1789,2.37,107.6,45.8,19.1,161,1793,0.00,2.58,0.00,0.000,4,0.000,0.070,3426,3889,2841
$STATE,2010,end climb,SURFACE_DEPTH_REACHED
$STATE,2011,begin surface coast
$FINISH,0.3,1.022050
$STATE,2025,end surface coast,CONTROL_FINISHED_OK
$STATE,2025,begin surface
$SM_CCo,2067,128.35,0.564,0,0,1649,400.08
$SM_GC,0.94,0.00,0.00,128.35,0.000,0.000,0.564,134,997,1649,-12.75,-0.08,400.08
$IRIDIUM_FIX,4726.11,-12252.58,041007,000025
$TT8_MAMPS,0.089739
$HUMID,2114
$INTERNAL_PRESSURE,11.4848
$TCM_TEMP,19.70
$XPDR_PINGS,80
$24V_AH,23.9,36.105
$10V_AH,10.0,22.349
$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,34.600,25.825,254.375,128.350,0.000,76.890,91.425,264.550,20.250,8.300,2968.700,16.727,340.058,1068.506,480.897,373.210,611.782,33.337,703.256,0.000,354.789,0.000,2.497
$DEVICE_MAMPS,217.061,69.797,645.814,563.745,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,122.463,0.000,0.000,0.000,0.000,0.000,1896.370,2977.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,2.723,51.000
$DATA_FILE_SIZE,3296,187
$CFSIZE,260034560,251514880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031007,214633,4743.522,-12250.793,12,1.4,12,18.3