version: 66.02
glider: 116
mission: 6
dive: 225
start: 10 5 107 10 43 30
data:
$ID,116
$MISSION,6
$DIVE,225
$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,45
$T_MISSION,90
$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,130
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$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,-34210.027
$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,18
$R_STBD_OVSHOOT,18
$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
$GPS1,103535,4743.618,-12250.754,10,4.1,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-65.8
$GPS2,104220,4743.610,-12250.756,10,1.2,15,18.3
$SPEED_LIMITS,0.193,0.216
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.101,-0.165
$KALMAN_X,28772.2,-139.6,54.9,-25450.9,-21.8
$KALMAN_Y,17543.9,-302.0,142.9,-8377.1,14.8
$MHEAD_RNG_PITCHd_Wd,130.1,95,-15.6,-7.037
$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,-1.42,-98.7,0.0,0.0,0,114,0.00,0.00,-78.40,0.000,2,0.000,0.000,135,1012,3316
$GC,118,-1.45,-127.1,2.4,-3.3,13,155,15.65,1.73,-16.30,0.000,4,0.209,0.110,2582,162,3801
$GC,407,-1.45,-127.1,23.4,-6.2,54,411,0.00,1.52,0.00,0.000,6,0.000,0.044,2581,1007,3802
$GC,610,-1.45,-127.1,35.9,-6.2,70,614,0.00,2.47,0.00,0.000,4,0.000,0.040,2581,2420,3802
$GC,744,-1.45,-127.1,43.7,-5.4,79,750,0.00,2.55,0.00,0.000,6,0.000,0.049,2582,1004,3802
$GC,940,-1.45,-127.1,55.2,-6.1,95,945,0.00,2.50,0.00,0.000,4,0.000,0.039,2582,2422,3802
$GC,1151,-1.45,-127.1,67.7,-5.7,110,1158,0.00,2.60,0.00,0.000,6,0.000,0.050,2582,994,3802
$GC,1348,-1.45,-127.1,79.3,-5.6,126,1352,0.00,2.50,0.00,0.000,4,0.000,0.039,2582,2413,3802
$GC,1572,-1.45,-127.1,91.8,-5.4,142,1579,0.00,2.58,0.00,0.000,6,0.000,0.051,2582,995,3801
$STATE,1639,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1639,begin apogee
$GC,1649,-0.42,0.0,95.7,5.8,148,1805,1.12,0.00,151.32,0.643,6,0.100,0.000,2807,2507,3281
$STATE,1809,end apogee,CONTROL_FINISHED_OK
$STATE,1809,begin climb
$GC,1812,1.45,127.1,97.2,0.0,161,1973,1.88,2.67,149.30,0.612,4,0.059,0.049,3224,1085,2762
$GC,1993,1.45,127.1,81.5,11.5,175,1999,0.00,2.55,0.00,0.000,6,0.000,0.039,3224,2511,2761
$GC,2189,1.45,127.1,59.3,11.5,191,2190,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2511,2761
$GC,2381,1.45,127.1,37.8,11.4,206,2386,0.00,2.60,0.00,0.000,4,0.000,0.071,3224,3891,2761
$GC,2441,1.45,127.1,30.2,12.2,210,2446,0.00,2.45,0.00,0.000,6,0.000,0.035,3224,2492,2761
$GC,2642,1.45,127.1,9.2,7.7,233,2649,0.00,2.47,0.00,0.000,4,0.000,0.050,3224,1109,2761
$GC,2709,1.45,127.1,3.3,9.0,243,2715,0.00,2.50,0.00,0.000,6,0.000,0.040,3224,2515,2761
$STATE,2726,end climb,SURFACE_DEPTH_REACHED
$STATE,2726,begin surface coast
$FINISH,0.4,1.008553
$STATE,2754,end surface coast,CONTROL_FINISHED_OK
$STATE,2754,begin surface
$SM_CCo,2789,120.28,0.571,0,0,1649,400.08
$SM_GC,1.10,0.00,0.00,120.28,0.000,0.000,0.571,133,1011,1649,-12.75,0.31,400.08
$IRIDIUM_FIX,4722.92,-12237.58,051007,131350
$TT8_MAMPS,0.067496
$HUMID,2131
$INTERNAL_PRESSURE,11.4848
$TCM_TEMP,19.70
$XPDR_PINGS,141
$24V_AH,23.9,40.482
$10V_AH,10.0,25.413
$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,32.800,39.225,300.625,120.275,0.000,38.529,36.322,172.303,35.500,29.050,3423.950,15.685,462.286,1400.537,514.467,497.023,466.725,33.335,813.186,0.000,475.311,0.000,2.495
$DEVICE_MAMPS,209.391,110.448,642.746,570.648,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,164.595,0.000,0.000,0.000,0.000,0.000,0.000,3453.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,21.848,51.000
$DATA_FILE_SIZE,6444,250
$CFSIZE,260034560,250187776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,113251,4743.384,-12250.504,13,1.9,13,18.3