version: 66.02
glider: 116
mission: 6
dive: 187
start: 10 3 107 22 52 22
data:
$ID,116
$MISSION,6
$DIVE,187
$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,-33332.918
$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,22
$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
$GPS1,223701,4743.496,-12250.896,34,1.7,38,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-63.1
$GPS2,225109,4743.566,-12250.805,15,1.7,15,18.3
$SPEED_LIMITS,0.137,0.240
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.062,-0.122
$KALMAN_X,29675.6,45.7,50.7,-26593.5,151.2
$KALMAN_Y,22575.7,4.4,-43.6,-13612.1,96.3
$MHEAD_RNG_PITCHd_Wd,188.4,100,-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,33,-2.30,-44.5,0.0,0.0,0,113,0.00,0.00,-77.78,0.000,2,0.000,0.000,132,1012,3270
$GC,117,-2.34,-81.3,2.0,-3.5,13,148,14.77,0.00,-12.40,0.000,6,0.216,0.000,2392,1011,3613
$GC,214,-2.34,-81.3,8.7,-9.8,28,220,0.00,2.47,0.00,0.000,4,0.000,0.041,2392,2413,3615
$GC,352,-2.36,-93.4,20.6,-6.5,48,359,0.00,2.55,-0.73,0.000,6,0.000,0.048,2392,1000,3666
$GC,548,-2.36,-100.0,33.7,-7.1,64,553,0.00,2.50,-0.25,0.000,4,0.000,0.050,2392,2413,3691
$GC,806,-2.37,-105.7,53.4,-7.2,83,811,0.00,2.58,-0.20,0.000,6,0.000,0.050,2392,995,3716
$GC,1002,-2.37,-105.7,70.4,-9.0,98,1006,0.00,2.50,0.00,0.000,4,0.000,0.039,2392,2417,3716
$GC,1113,-2.37,-105.7,79.7,-8.4,106,1119,0.00,2.58,0.00,0.000,6,0.000,0.050,2392,995,3716
$STATE,1294,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1294,begin apogee
$GC,1304,-0.42,0.0,95.2,8.5,121,1435,2.15,0.00,125.93,0.646,6,0.123,0.000,2812,2516,3281
$STATE,1438,end apogee,CONTROL_FINISHED_OK
$STATE,1438,begin climb
$GC,1442,2.37,105.7,96.4,0.0,132,1571,2.75,0.00,123.80,0.617,6,0.055,0.000,3428,2516,2849
$GC,1758,2.37,105.7,45.1,18.5,158,1759,0.00,0.00,0.00,0.000,6,0.000,0.000,3427,2515,2850
$GC,1950,2.37,105.7,10.5,17.2,177,1956,0.00,2.58,0.00,0.000,4,0.000,0.070,3427,3891,2850
$STATE,2006,end climb,SURFACE_DEPTH_REACHED
$STATE,2006,begin surface coast
$FINISH,0.1,1.000841
$STATE,2021,end surface coast,CONTROL_FINISHED_OK
$STATE,2021,begin surface
$SM_CCo,2064,129.00,0.565,0,0,1649,400.08
$SM_GC,0.91,0.00,0.00,129.00,0.000,0.000,0.565,137,989,1649,-12.73,-0.31,400.08
$IRIDIUM_FIX,4726.11,-12250.84,041007,020234
$TT8_MAMPS,0.088205
$HUMID,2088
$INTERNAL_PRESSURE,11.4848
$TCM_TEMP,19.70
$XPDR_PINGS,88
$24V_AH,23.9,36.308
$10V_AH,9.9,22.513
$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,34.600,25.800,249.725,129.000,0.000,75.400,71.473,388.796,22.250,8.300,3182.700,15.218,331.384,1103.328,464.530,378.776,778.026,33.337,691.601,0.000,345.125,0.000,2.496
$DEVICE_MAMPS,216.294,69.797,645.814,564.512,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,123.105,0.000,0.000,0.000,0.000,0.000,3021.460,3191.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,16.979,51.000
$DATA_FILE_SIZE,3326,188
$CFSIZE,260034560,251437056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031007,233005,4743.424,-12250.883,11,2.8,30,18.3