version: 66.02
glider: 116
mission: 6
dive: 189
start: 10 4 107 0 59 47
data:
$ID,116
$MISSION,6
$DIVE,189
$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,-33379.973
$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,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,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
$GPS1,003256,4743.444,-12250.931,9,1.7,14,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-63.9
$GPS2,005838,4743.536,-12250.801,13,1.3,30,18.3
$SPEED_LIMITS,0.137,0.240
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.026,-0.135
$KALMAN_X,29917.6,125.0,145.5,-27005.9,82.3
$KALMAN_Y,22819.4,140.2,-42.7,-14049.6,124.9
$MHEAD_RNG_PITCHd_Wd,150.9,107,-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,-44.5,0.0,0.0,0,114,0.00,0.00,-78.72,0.000,2,0.000,0.000,134,1002,3285
$GC,118,-2.34,-82.1,2.0,-3.4,13,150,14.65,2.58,-11.40,0.000,4,0.214,0.051,2391,2422,3617
$GC,400,-2.36,-96.8,23.2,-6.2,52,407,0.00,2.58,-0.82,0.000,6,0.000,0.048,2391,996,3680
$GC,597,-2.36,-99.2,37.3,-7.6,68,601,0.00,2.50,0.00,0.000,4,0.000,0.038,2391,2415,3681
$GC,855,-2.36,-99.2,57.7,-8.5,87,859,0.00,2.58,0.00,0.000,6,0.000,0.050,2390,994,3681
$GC,1051,-2.36,-100.3,73.4,-7.8,102,1056,0.00,2.50,-0.12,0.000,4,0.000,0.050,2391,2416,3699
$GC,1309,-2.36,-100.3,94.8,-8.6,121,1312,0.00,2.17,0.00,0.000,3,0.000,0.048,2391,1199,3699
$STATE,1313,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1313,begin apogee
$GC,1323,-0.42,0.0,95.3,8.6,121,1450,2.15,0.00,121.35,0.650,6,0.124,0.000,2810,2518,3281
$STATE,1451,end apogee,CONTROL_FINISHED_OK
$STATE,1454,begin climb
$GC,1457,2.36,100.3,96.9,0.0,132,1587,2.75,2.62,117.60,0.622,4,0.054,0.048,3425,1090,2870
$GC,1606,2.36,100.3,77.5,17.1,144,1613,0.00,2.55,0.00,0.000,6,0.000,0.040,3426,2515,2870
$GC,1803,2.36,100.3,41.0,19.0,160,1807,0.00,2.55,0.00,0.000,4,0.000,0.069,3425,3889,2870
$STATE,2018,end climb,SURFACE_DEPTH_REACHED
$STATE,2018,begin surface coast
$FINISH,0.3,1.015520
$STATE,2034,end surface coast,CONTROL_FINISHED_OK
$STATE,2034,begin surface
$SM_CCo,2070,131.45,0.566,0,0,1649,400.08
$SM_GC,0.88,0.00,0.00,131.45,0.000,0.000,0.566,136,990,1649,-12.74,-0.28,400.08
$IRIDIUM_FIX,4726.11,-12250.84,041007,040453
$TT8_MAMPS,0.066729
$HUMID,2113
$INTERNAL_PRESSURE,11.4946
$TCM_TEMP,19.70
$XPDR_PINGS,68
$24V_AH,23.9,36.568
$10V_AH,10.1,22.713
$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,34.500,30.275,238.950,131.450,0.000,190.555,214.272,615.711,17.250,0.000,3858.000,30.371,358.119,1223.052,456.460,429.117,1287.733,33.344,697.747,0.000,380.748,0.000,2.496
$DEVICE_MAMPS,213.993,69.030,650.416,566.046,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,121.969,0.000,0.000,0.000,0.000,0.000,1596.110,3858.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,20.056,51.000
$DATA_FILE_SIZE,3303,186
$CFSIZE,260034560,251305984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041007,013737,4743.375,-12250.761,14,0.9,30,18.3