version: 66.02
glider: 116
mission: 6
dive: 196
start: 10 4 107 7 29 30
data:
$ID,116
$MISSION,6
$DIVE,196
$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,-33549.27
$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,16
$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
$GPS1,070835,4743.508,-12250.809,10,6.5,29,18.3
$_CALLS,3
$_XMS_NAKs,84
$_XMS_TOUTs,5
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-63.8
$GPS2,072820,4743.554,-12250.741,11,1.4,16,18.3
$SPEED_LIMITS,0.137,0.240
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.109,0.083
$KALMAN_X,30366.1,213.6,12.4,-27333.4,-121.5
$KALMAN_Y,22817.8,210.0,43.3,-14169.0,-90.6
$MHEAD_RNG_PITCHd_Wd,34.4,27,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,30,-2.30,-44.5,0.0,0.0,0,117,0.00,0.00,-84.00,0.000,2,0.000,0.000,133,1014,3400
$GC,121,-2.33,-73.2,2.3,-4.5,14,146,14.55,2.55,-5.65,0.000,4,0.212,0.051,2393,2420,3581
$GC,398,-2.36,-93.5,25.4,-5.5,50,404,0.00,2.58,-1.08,0.000,6,0.000,0.049,2393,1000,3666
$GC,594,-2.36,-95.8,39.3,-7.6,65,598,0.00,2.50,0.00,0.000,4,0.000,0.039,2393,2420,3667
$GC,852,-2.36,-100.7,58.4,-7.3,84,857,0.00,2.58,-0.25,0.000,6,0.000,0.049,2393,991,3697
$GC,1048,-2.36,-100.7,75.4,-8.9,99,1052,0.00,2.50,0.00,0.000,4,0.000,0.039,2393,2416,3697
$STATE,1277,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1277,begin apogee
$GC,1285,-0.42,0.0,95.3,8.3,116,1412,2.12,0.00,120.72,0.650,6,0.123,0.000,2809,2515,3281
$STATE,1414,end apogee,CONTROL_FINISHED_OK
$STATE,1416,begin climb
$GC,1419,2.36,100.7,96.7,0.0,127,1549,2.75,2.62,117.75,0.623,4,0.054,0.049,3426,1087,2869
$GC,1629,2.36,100.7,66.1,18.7,143,1634,0.00,2.55,0.00,0.000,6,0.000,0.041,3426,2512,2869
$GC,1825,2.36,100.7,29.9,18.7,158,1830,0.00,2.58,0.00,0.000,4,0.000,0.069,3426,3888,2869
$GC,1905,2.36,100.7,14.5,18.8,165,1911,0.00,2.45,0.00,0.000,6,0.000,0.037,3426,2485,2869
$GC,1978,2.36,100.7,4.1,13.1,176,1984,0.00,2.62,0.00,0.000,4,0.000,0.065,3426,3890,2869
$STATE,1995,end climb,SURFACE_DEPTH_REACHED
$STATE,1995,begin surface coast
$FINISH,0.3,1.011414
$STATE,2009,end surface coast,CONTROL_FINISHED_OK
$STATE,2009,begin surface
$SM_CCo,2048,132.25,0.568,0,0,1649,400.08
$SM_GC,0.97,0.00,0.00,132.25,0.000,0.000,0.568,134,1004,1649,-12.75,0.11,400.08
$IRIDIUM_FIX,4729.30,-12252.58,041007,111135
$TT8_MAMPS,0.067496
$HUMID,2092
$INTERNAL_PRESSURE,11.4848
$TCM_TEMP,19.70
$XPDR_PINGS,87
$24V_AH,23.4,37.369
$10V_AH,10.0,23.234
$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,34.525,30.950,238.475,132.250,0.000,119.712,104.766,669.490,22.000,8.300,3488.700,16.892,356.960,1087.497,454.001,400.137,1095.063,33.345,701.116,0.000,381.030,0.000,2.498
$DEVICE_MAMPS,212.459,69.030,650.416,567.580,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,118.699,0.000,0.000,0.000,0.000,0.000,0.000,3497.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,20.056,51.000
$DATA_FILE_SIZE,3320,181
$CFSIZE,260034560,251105280
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041007,080639,4743.504,-12250.604,10,1.7,10,18.3