version: 66.02
glider: 116
mission: 6
dive: 192
start: 10 4 107 3 48 53
data:
$ID,116
$MISSION,6
$DIVE,192
$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,-33454.148
$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,12
$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,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
$GPS1,033251,4743.460,-12250.788,13,1.8,13,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-61.0
$GPS2,034744,4743.530,-12250.675,15,1.9,26,18.3
$SPEED_LIMITS,0.137,0.240
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.129,0.048
$KALMAN_X,30269.3,179.9,117.8,-27229.7,33.5
$KALMAN_Y,22892.6,250.1,39.9,-14326.0,28.2
$MHEAD_RNG_PITCHd_Wd,272.1,87,-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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,32,-2.30,-44.5,0.0,0.0,0,119,0.00,0.00,-84.15,0.000,2,0.000,0.000,135,1013,3416
$GC,123,-2.33,-73.5,2.4,-4.5,14,148,14.73,1.73,-4.90,0.000,4,0.216,0.108,2393,162,3582
$GC,401,-2.35,-91.1,25.1,-5.8,50,405,0.00,1.52,-0.90,0.000,6,0.000,0.044,2392,1010,3656
$GC,597,-2.36,-93.1,38.6,-7.7,65,598,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1010,3658
$GC,788,-2.36,-93.1,53.6,-8.3,80,792,0.00,2.45,0.00,0.000,4,0.000,0.040,2391,2410,3657
$GC,853,-2.36,-93.7,58.8,-7.8,84,860,0.00,2.55,0.00,0.000,6,0.000,0.048,2392,996,3658
$GC,1050,-2.36,-93.7,74.3,-7.9,100,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,996,3657
$GC,1242,-2.37,-101.4,88.8,-7.0,115,1247,0.00,2.47,-0.28,0.000,4,0.000,0.051,2392,2412,3699
$STATE,1316,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1316,begin apogee
$GC,1324,-0.42,0.0,95.0,7.6,120,1451,2.15,0.00,121.65,0.648,6,0.123,0.000,2812,2511,3281
$STATE,1452,end apogee,CONTROL_FINISHED_OK
$STATE,1455,begin climb
$GC,1458,2.37,101.4,95.5,0.0,131,1589,2.75,2.65,119.03,0.620,4,0.055,0.048,3428,1096,2866
$GC,1629,2.37,101.4,71.6,18.4,144,1633,0.00,2.53,0.00,0.000,6,0.000,0.040,3428,2507,2866
$GC,1825,2.37,101.4,34.8,18.8,159,1829,0.00,2.60,0.00,0.000,4,0.000,0.070,3428,3895,2866
$GC,1939,2.37,101.4,13.1,17.6,169,1946,0.00,2.45,0.00,0.000,6,0.000,0.035,3428,2496,2866
$GC,2013,2.37,101.4,2.4,13.1,180,2019,0.00,2.50,0.00,0.000,4,0.000,0.049,3428,1097,2866
$STATE,2023,end climb,SURFACE_DEPTH_REACHED
$STATE,2023,begin surface coast
$FINISH,0.1,1.004884
$STATE,2037,end surface coast,CONTROL_FINISHED_OK
$STATE,2038,begin surface
$SM_CCo,2071,131.27,0.565,0,0,1650,400.08
$SM_GC,0.87,0.00,0.00,131.27,0.000,0.000,0.565,133,1003,1650,-12.75,0.08,400.08
$IRIDIUM_FIX,4726.11,-12250.84,041007,070705
$TT8_MAMPS,0.066729
$HUMID,2116
$INTERNAL_PRESSURE,11.4848
$TCM_TEMP,19.60
$XPDR_PINGS,107
$24V_AH,23.5,36.909
$10V_AH,10.1,22.939
$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,34.800,23.800,240.675,131.275,0.000,118.399,160.751,323.313,27.000,8.300,3210.700,26.159,353.612,1142.737,449.946,376.084,799.921,33.346,684.382,0.000,345.318,0.000,2.495
$DEVICE_MAMPS,216.294,108.147,648.115,564.512,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,120.644,0.000,0.000,0.000,0.000,0.000,0.000,3219.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,20.056,51.000
$DATA_FILE_SIZE,3322,184
$CFSIZE,260034560,251228160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041007,042647,4743.575,-12250.830,14,5.2,33,18.3