version: 66.02
glider: 116
mission: 6
dive: 209
start: 10 4 107 17 55 34
data:
$ID,116
$MISSION,6
$DIVE,209
$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,-33878.723
$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,19
$R_STBD_OVSHOOT,21
$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
$GPS1,173929,4743.512,-12250.696,13,2.5,32,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-65.6
$GPS2,175423,4743.451,-12250.680,17,3.4,36,18.3
$SPEED_LIMITS,0.137,0.240
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.042,0.131
$KALMAN_X,30029.5,-115.8,79.8,-26657.2,-140.3
$KALMAN_Y,21304.9,-354.7,-9.3,-12228.7,-49.4
$MHEAD_RNG_PITCHd_Wd,359.5,215,-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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,31,-2.30,-44.5,0.0,0.0,0,112,0.00,0.00,-77.95,0.000,2,0.000,0.000,133,1012,3291
$GC,116,-2.34,-79.2,2.2,-3.8,13,147,14.25,1.70,-11.27,0.000,4,0.205,0.106,2389,166,3605
$GC,397,-2.37,-100.8,24.2,-5.3,50,404,0.00,1.50,-1.15,0.000,6,0.000,0.044,2389,1001,3696
$GC,594,-2.37,-100.8,38.9,-8.2,66,597,0.00,1.60,0.00,0.000,4,0.000,0.083,2389,166,3697
$GC,705,-2.37,-100.8,48.2,-8.3,74,712,0.00,1.50,0.00,0.000,6,0.000,0.044,2389,1003,3697
$GC,901,-2.37,-100.8,63.8,-8.2,90,906,0.00,2.47,0.00,0.000,4,0.000,0.041,2389,2414,3697
$GC,1085,-2.37,-100.8,78.9,-8.0,103,1092,0.00,2.55,0.00,0.000,6,0.000,0.049,2389,1003,3698
$STATE,1279,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1279,begin apogee
$GC,1289,-0.42,0.0,95.1,8.1,119,1416,2.15,0.00,120.65,0.646,6,0.121,0.000,2811,2512,3281
$STATE,1417,end apogee,CONTROL_FINISHED_OK
$STATE,1420,begin climb
$GC,1423,2.37,100.8,95.4,0.0,130,1552,2.72,2.62,117.35,0.621,4,0.054,0.073,3423,3887,2869
$GC,1730,2.37,100.8,51.5,19.8,153,1737,0.00,2.45,0.00,0.000,6,0.000,0.037,3423,2493,2870
$GC,1927,2.37,100.8,15.4,18.3,170,1933,0.00,2.62,0.00,0.000,4,0.000,0.066,3423,3892,2869
$GC,1941,2.37,100.8,12.7,18.6,172,1947,0.00,2.42,0.00,0.000,6,0.000,0.036,3424,2505,2869
$STATE,2011,end climb,SURFACE_DEPTH_REACHED
$STATE,2011,begin surface coast
$FINISH,0.3,1.010667
$STATE,2025,end surface coast,CONTROL_FINISHED_OK
$STATE,2025,begin surface
$SM_CCo,2058,132.20,0.565,0,0,1650,400.08
$SM_GC,0.98,0.00,0.00,132.20,0.000,0.000,0.565,133,1013,1650,-12.75,0.37,400.08
$IRIDIUM_FIX,4726.11,-12252.58,041007,212110
$TT8_MAMPS,0.069797
$HUMID,2109
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,19.80
$XPDR_PINGS,97
$24V_AH,23.9,38.615
$10V_AH,10.0,24.066
$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,34.175,26.925,238.000,132.200,0.000,113.539,171.739,299.279,24.500,0.000,3223.000,37.596,350.977,1106.621,460.850,409.098,786.278,33.338,699.699,0.000,364.725,0.000,2.496
$DEVICE_MAMPS,204.789,105.846,645.814,564.512,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,120.982,0.000,0.000,0.000,0.000,0.000,0.000,3223.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,20.056,51.000
$DATA_FILE_SIZE,3313,185
$CFSIZE,260034560,250744832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041007,183317,4743.580,-12250.629,14,4.4,33,18.3