version: 66.02
glider: 116
mission: 6
dive: 186
start: 10 3 107 21 59 55
data:
$ID,116
$MISSION,6
$DIVE,186
$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,-33317.07
$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,13
$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
$GPS1,214633,4743.522,-12250.793,12,1.4,12,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-64.5
$GPS2,215845,4743.569,-12250.693,13,1.4,13,18.3
$SPEED_LIMITS,0.137,0.240
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.127,-0.052
$KALMAN_X,29608.8,10.6,-13.8,-26288.9,166.4
$KALMAN_Y,22505.8,-65.0,-20.3,-13491.5,73.9
$MHEAD_RNG_PITCHd_Wd,229.4,41,-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,31,end surface,CONTROL_FINISHED_OK
$STATE,31,begin dive
$GC,34,-2.30,-44.5,0.0,0.0,0,114,0.00,0.00,-77.60,0.000,2,0.000,0.000,134,998,3265
$GC,118,-2.34,-83.4,2.1,-3.3,13,154,14.75,1.70,-12.55,0.000,4,0.217,0.110,2388,159,3623
$GC,175,-2.36,-92.9,5.3,-6.8,22,181,0.00,1.52,-0.98,0.000,6,0.000,0.044,2388,1003,3661
$GC,248,-2.36,-92.9,12.9,-10.6,33,253,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1003,3661
$GC,320,-2.36,-92.9,19.2,-8.6,44,326,0.00,2.47,0.00,0.000,4,0.000,0.040,2388,2413,3661
$GC,346,-2.36,-92.9,21.5,-8.4,47,350,0.00,2.58,0.00,0.000,6,0.000,0.048,2388,990,3661
$GC,542,-2.37,-101.3,35.1,-6.9,62,544,0.00,0.00,-0.40,0.000,6,0.000,0.000,2388,991,3699
$GC,731,-2.37,-101.3,50.1,-8.5,77,735,0.00,2.50,0.00,0.000,4,0.000,0.039,2388,2411,3700
$GC,989,-2.37,-101.3,72.4,-8.2,96,993,0.00,2.55,0.00,0.000,6,0.000,0.051,2388,1002,3700
$GC,1191,-2.37,-101.3,89.0,-8.2,112,1195,0.00,2.47,0.00,0.000,4,0.000,0.039,2388,2412,3700
$STATE,1267,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1267,begin apogee
$GC,1274,-0.42,0.0,95.2,7.8,117,1401,2.15,0.00,121.43,0.646,6,0.122,0.000,2809,2512,3281
$STATE,1405,end apogee,CONTROL_FINISHED_OK
$STATE,1405,begin climb
$GC,1408,2.37,101.3,95.8,0.0,128,1534,2.75,0.00,119.05,0.618,6,0.055,0.000,3424,2512,2867
$GC,1722,2.37,101.3,47.6,17.9,153,1726,0.00,2.58,0.00,0.000,4,0.000,0.071,3425,3885,2867
$GC,1861,2.37,101.3,19.1,19.6,163,1867,0.00,2.45,0.00,0.000,6,0.000,0.036,3425,2486,2867
$GC,1934,2.37,101.3,6.4,16.1,174,1939,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2485,2866
$STATE,1964,end climb,SURFACE_DEPTH_REACHED
$STATE,1964,begin surface coast
$FINISH,0.2,1.009757
$STATE,1978,end surface coast,CONTROL_FINISHED_OK
$STATE,1978,begin surface
$SM_CCo,2019,130.90,0.564,0,0,1650,400.08
$SM_GC,0.73,0.00,0.00,130.90,0.000,0.000,0.564,132,1010,1650,-12.76,0.28,400.08
$IRIDIUM_FIX,4726.11,-12250.84,041007,010121
$TT8_MAMPS,0.088205
$HUMID,2099
$INTERNAL_PRESSURE,11.4848
$TCM_TEMP,19.60
$XPDR_PINGS,75
$24V_AH,23.9,36.203
$10V_AH,9.9,22.428
$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,34.300,23.725,240.475,130.900,0.000,72.331,75.822,327.546,19.000,0.000,3002.000,13.115,331.647,1042.437,467.077,366.979,685.899,33.343,697.601,0.000,344.802,0.000,2.497
$DEVICE_MAMPS,217.061,109.681,645.814,563.745,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,118.279,0.000,0.000,0.000,0.000,0.000,2842.750,3002.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,16.415,51.000
$DATA_FILE_SIZE,3309,181
$CFSIZE,260034560,251486208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031007,223701,4743.496,-12250.896,34,1.7,38,18.3