version: 66.02
glider: 116
mission: 6
dive: 206
start: 10 4 107 15 36 42
data:
$ID,116
$MISSION,6
$DIVE,206
$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,-33797.289
$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,17
$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
$GPS1,151608,4743.584,-12250.766,11,1.4,11,18.3
$_CALLS,3
$_XMS_NAKs,69
$_XMS_TOUTs,7
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-65.1
$GPS2,153532,4743.500,-12250.721,10,1.3,15,18.3
$SPEED_LIMITS,0.137,0.240
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.003,0.137
$KALMAN_X,30414.2,-98.2,50.4,-27083.1,-0.3
$KALMAN_Y,21663.4,-303.6,-51.3,-12502.9,-72.8
$MHEAD_RNG_PITCHd_Wd,340.3,117,-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,-44.5,0.0,0.0,0,113,0.00,0.00,-78.60,0.000,2,0.000,0.000,136,993,3297
$GC,118,-2.34,-78.9,2.2,-3.8,13,149,14.32,1.60,-10.85,0.000,4,0.206,0.107,2389,166,3603
$GC,400,-2.36,-94.5,25.7,-6.1,49,407,0.00,1.50,-0.80,0.000,6,0.000,0.042,2389,1005,3670
$GC,596,-2.36,-96.2,40.1,-7.7,65,600,0.00,1.60,0.00,0.000,4,0.000,0.082,2389,166,3671
$GC,747,-2.36,-96.2,52.5,-8.1,76,754,0.00,1.50,0.00,0.000,6,0.000,0.041,2389,1006,3671
$GC,944,-2.36,-98.6,67.6,-7.6,92,949,0.00,2.47,-0.10,0.000,4,0.000,0.051,2389,2415,3686
$GC,1154,-2.36,-98.6,84.8,-8.4,107,1161,0.00,2.55,0.00,0.000,6,0.000,0.049,2389,1002,3687
$STATE,1272,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1272,begin apogee
$GC,1282,-0.42,0.0,95.0,8.6,117,1409,2.15,0.00,118.18,0.648,6,0.120,0.000,2810,2513,3281
$STATE,1411,end apogee,CONTROL_FINISHED_OK
$STATE,1413,begin climb
$GC,1416,2.36,98.6,96.2,0.0,128,1546,2.75,2.65,115.65,0.622,4,0.053,0.048,3426,1091,2878
$GC,1560,2.36,98.6,78.0,17.7,140,1565,0.00,2.55,0.00,0.000,6,0.000,0.039,3426,2514,2878
$GC,1756,2.36,98.6,41.7,18.6,155,1761,0.00,2.58,0.00,0.000,4,0.000,0.068,3426,3890,2878
$STATE,1972,end climb,SURFACE_DEPTH_REACHED
$STATE,1972,begin surface coast
$FINISH,0.4,1.016718
$STATE,1990,end surface coast,CONTROL_FINISHED_OK
$STATE,1991,begin surface
$SM_CCo,2026,132.80,0.566,0,0,1649,400.08
$SM_GC,0.98,0.00,0.00,132.80,0.000,0.000,0.566,137,995,1649,-12.73,-0.14,400.08
$IRIDIUM_FIX,4726.11,-12250.84,041007,191908
$TT8_MAMPS,0.068263
$HUMID,2127
$INTERNAL_PRESSURE,11.4848
$TCM_TEMP,19.70
$XPDR_PINGS,87
$24V_AH,23.9,38.336
$10V_AH,10.1,23.880
$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,34.300,27.000,233.825,132.800,0.000,119.896,187.948,577.476,22.000,8.300,3434.700,15.555,347.750,1088.078,461.585,377.862,1076.828,33.351,691.454,0.000,358.034,0.000,2.496
$DEVICE_MAMPS,206.323,106.613,648.115,566.046,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,118.484,0.000,0.000,0.000,0.000,0.000,0.000,3443.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,20.056,51.000
$DATA_FILE_SIZE,3330,181
$CFSIZE,260034560,250822656
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041007,161353,4743.625,-12250.769,13,2.2,32,18.3