version: 66.02
glider: 116
mission: 6
dive: 197
start: 10 4 107 8 29 32
data:
$ID,116
$MISSION,6
$DIVE,197
$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,-33582.277
$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,20
$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
$GPS1,080639,4743.504,-12250.604,10,1.7,10,18.3
$_CALLS,5
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-61.4
$GPS2,082823,4743.564,-12250.526,12,2.8,31,18.3
$SPEED_LIMITS,0.137,0.240
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.116,0.073
$KALMAN_X,30444.4,186.2,-50.6,-27056.6,-78.2
$KALMAN_Y,22731.3,160.9,11.3,-13980.2,-108.2
$MHEAD_RNG_PITCHd_Wd,283.7,247,-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,-84.03,0.000,2,0.000,0.000,134,1004,3396
$GC,123,-2.34,-79.3,2.2,-3.8,14,148,14.45,1.70,-6.38,0.000,4,0.210,0.109,2388,165,3606
$GC,380,-2.36,-97.1,26.9,-5.8,46,386,0.00,1.50,-0.88,0.000,6,0.000,0.044,2389,1002,3681
$GC,576,-2.36,-97.1,41.3,-8.1,62,580,0.00,2.47,0.00,0.000,4,0.000,0.042,2389,2413,3682
$GC,650,-2.36,-97.1,47.1,-8.1,67,655,0.00,2.55,0.00,0.000,6,0.000,0.049,2389,1000,3683
$GC,846,-2.36,-97.1,63.1,-7.9,82,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1001,3682
$GC,1039,-2.36,-97.1,78.9,-8.4,97,1043,0.00,2.47,0.00,0.000,4,0.000,0.041,2389,2412,3683
$STATE,1239,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1239,begin apogee
$GC,1247,-0.42,0.0,95.5,8.1,112,1369,2.15,0.00,116.53,0.650,6,0.123,0.000,2809,2512,3281
$STATE,1370,end apogee,CONTROL_FINISHED_OK
$STATE,1370,begin climb
$GC,1376,2.36,97.1,96.5,0.0,122,1503,2.75,2.70,114.00,0.623,4,0.054,0.074,3426,3883,2885
$GC,1569,2.36,97.1,67.8,19.3,137,1576,0.00,2.45,0.00,0.000,6,0.000,0.037,3426,2494,2885
$GC,1765,2.36,97.1,32.1,18.2,153,1770,0.00,2.62,0.00,0.000,4,0.000,0.067,3426,3890,2884
$GC,1825,2.36,97.1,20.6,18.9,157,1829,0.00,2.42,0.00,0.000,6,0.000,0.037,3426,2511,2884
$STATE,1954,end climb,SURFACE_DEPTH_REACHED
$STATE,1954,begin surface coast
$FINISH,0.3,1.003797
$STATE,1968,end surface coast,CONTROL_FINISHED_OK
$STATE,1968,begin surface
$SM_CCo,2003,133.40,0.567,0,0,1649,400.08
$SM_GC,0.93,0.00,0.00,133.40,0.000,0.000,0.567,133,1011,1649,-12.75,0.31,400.08
$IRIDIUM_FIX,4726.11,-12248.15,041007,121247
$TT8_MAMPS,0.066729
$HUMID,2127
$INTERNAL_PRESSURE,11.4848
$TCM_TEMP,19.70
$XPDR_PINGS,97
$24V_AH,23.9,37.485
$10V_AH,9.9,23.314
$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,34.225,23.850,230.525,133.400,0.000,193.385,324.046,365.853,24.500,4.150,3552.850,32.380,346.283,1209.181,448.226,384.653,1079.749,33.342,674.558,0.000,345.945,0.000,2.496
$DEVICE_MAMPS,210.158,108.914,650.416,566.813,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,116.768,0.000,0.000,0.000,0.000,0.000,0.000,3557.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,20.056,51.000
$DATA_FILE_SIZE,3303,178
$CFSIZE,260034560,251084800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041007,090623,4743.603,-12250.741,15,3.3,34,18.3