version: 66.02
glider: 116
mission: 6
dive: 207
start: 10 4 107 16 22 16
data:
$ID,116
$MISSION,6
$DIVE,207
$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,-33823.508
$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,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
$GPS1,161353,4743.625,-12250.769,13,2.2,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-64.5
$GPS2,162107,4743.590,-12250.760,15,1.6,25,18.3
$SPEED_LIMITS,0.137,0.240
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.105,0.088
$KALMAN_X,30379.2,-118.8,69.9,-27094.5,-18.9
$KALMAN_Y,21488.9,-321.4,-14.5,-12181.8,-104.0
$MHEAD_RNG_PITCHd_Wd,31.6,67,-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,33,-2.30,-44.5,0.0,0.0,0,113,0.00,0.00,-78.43,0.000,2,0.000,0.000,137,995,3299
$GC,118,-2.34,-77.2,2.2,-4.0,13,149,14.35,2.50,-10.52,0.000,4,0.207,0.049,2391,2417,3596
$GC,157,-2.39,-121.3,3.8,-2.7,19,169,0.00,2.55,-5.50,0.000,6,0.000,0.047,2391,999,3777
$GC,239,-2.39,-121.3,13.6,-14.7,31,244,0.00,1.62,0.00,0.000,4,0.000,0.090,2391,162,3777
$GC,495,-2.39,-121.3,42.5,-9.8,54,501,0.00,1.50,0.00,0.000,6,0.000,0.043,2391,997,3777
$GC,692,-2.39,-121.3,61.9,-10.4,70,695,0.00,1.60,0.00,0.000,4,0.000,0.083,2391,166,3778
$GC,948,-2.39,-121.3,89.9,-10.8,89,959,0.00,1.50,0.00,0.000,6,0.000,0.043,2391,1004,3778
$STATE,1003,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1003,begin apogee
$GC,1013,-0.42,0.0,95.9,10.5,94,1164,2.12,0.00,144.18,0.641,6,0.120,0.000,2809,2505,3281
$STATE,1168,end apogee,CONTROL_FINISHED_OK
$STATE,1168,begin climb
$GC,1171,2.39,121.3,97.8,0.0,107,1326,2.78,2.72,142.48,0.614,4,0.054,0.074,3430,3892,2785
$GC,1359,2.39,121.3,70.2,21.0,121,1366,0.00,2.47,0.00,0.000,6,0.000,0.037,3431,2486,2785
$GC,1555,2.39,121.3,30.8,19.7,137,1560,0.00,2.65,0.00,0.000,4,0.000,0.067,3430,3894,2785
$GC,1628,2.39,121.3,15.5,21.2,143,1635,0.00,2.42,0.00,0.000,6,0.000,0.037,3430,2505,2785
$GC,1702,2.39,121.3,2.1,16.7,154,1708,0.00,2.60,0.00,0.000,4,0.000,0.065,3430,3896,2784
$STATE,1712,end climb,SURFACE_DEPTH_REACHED
$STATE,1712,begin surface coast
$FINISH,0.3,1.003708
$STATE,1726,end surface coast,CONTROL_FINISHED_OK
$STATE,1726,begin surface
$SM_CCo,1765,122.78,0.563,0,0,1649,400.08
$SM_GC,1.14,0.00,0.00,122.78,0.000,0.000,0.563,133,1007,1649,-12.75,0.20,400.08
$IRIDIUM_FIX,4726.11,-12248.15,041007,191933
$TT8_MAMPS,0.067496
$HUMID,2109
$INTERNAL_PRESSURE,11.4848
$TCM_TEMP,19.70
$XPDR_PINGS,94
$24V_AH,23.9,38.430
$10V_AH,10.0,23.936
$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,34.350,32.100,286.650,122.775,0.000,38.841,36.502,193.452,23.750,4.150,2463.850,25.591,300.829,730.443,514.240,349.664,454.223,33.351,738.755,0.000,320.272,0.000,2.504
$DEVICE_MAMPS,207.090,89.739,641.212,562.978,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,101.958,0.000,0.000,0.000,0.000,0.000,0.000,2468.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,20.056,51.000
$DATA_FILE_SIZE,3314,158
$CFSIZE,260034560,250806272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041007,165453,4743.700,-12250.719,10,5.6,29,18.3