version: 66.02
glider: 116
mission: 6
dive: 237
start: 10 5 107 19 49 55
data:
$ID,116
$MISSION,6
$DIVE,237
$D_SURF,2
$D_FLARE,2
$D_TGT,30
$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,10
$T_MISSION,30
$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,-34497.656
$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
$GPS1,194109,4743.530,-12250.689,11,1.7,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-65.8
$GPS2,194826,4743.535,-12250.683,18,1.6,35,18.3
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.216,0.169
$KALMAN_X,29168.8,126.3,46.4,-26011.4,1.8
$KALMAN_Y,17781.3,71.7,-64.9,-8922.1,11.2
$MHEAD_RNG_PITCHd_Wd,289.7,74,-16.3,-10.000
$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,30,end surface,CONTROL_FINISHED_OK
$STATE,30,begin dive
$GC,34,-1.52,-127.1,0.0,0.0,0,108,0.00,0.00,-72.28,0.000,2,0.000,0.000,135,991,3194
$GC,113,-1.52,-127.1,2.1,-3.2,12,157,15.43,1.67,-23.42,0.000,4,0.206,0.109,2572,163,3800
$GC,329,-1.52,-127.1,15.8,-6.2,45,335,0.00,1.50,0.00,0.000,6,0.000,0.044,2572,998,3802
$GC,405,-1.52,-127.1,20.0,-5.9,56,411,0.00,2.47,0.00,0.000,4,0.000,0.039,2572,2412,3802
$GC,504,-1.52,-127.1,26.0,-6.2,64,510,0.00,2.55,0.00,0.000,6,0.000,0.049,2572,1000,3802
$STATE,571,end dive,TARGET_DEPTH_EXCEEDED
$STATE,571,begin apogee
$GC,581,-0.42,0.0,30.3,6.3,70,734,1.17,0.00,148.45,0.595,6,0.102,0.000,2807,2506,3281
$STATE,738,end apogee,CONTROL_FINISHED_OK
$STATE,738,begin climb
$GC,741,1.52,127.1,32.2,0.0,83,896,1.92,2.65,143.85,0.571,4,0.058,0.048,3236,1092,2761
$GC,930,1.52,127.1,15.8,11.3,100,936,0.00,2.55,0.00,0.000,6,0.000,0.041,3236,2513,2761
$GC,1004,1.54,144.9,8.1,9.3,111,1028,0.00,2.67,15.02,0.585,4,0.000,0.070,3236,3890,2689
$STATE,1075,end climb,SURFACE_DEPTH_REACHED
$STATE,1075,begin surface coast
$FINISH,0.4,1.007117
$STATE,1086,end surface coast,CONTROL_FINISHED_OK
$STATE,1086,begin surface
$SM_CCo,1121,111.25,0.545,0,0,1649,400.08
$SM_GC,1.14,0.00,0.00,111.25,0.000,0.000,0.545,136,999,1649,-12.74,-0.06,400.08
$IRIDIUM_FIX,4726.11,-12250.84,051007,232350
$TT8_MAMPS,0.069797
$HUMID,2100
$INTERNAL_PRESSURE,11.4946
$TCM_TEMP,19.90
$XPDR_PINGS,32
$24V_AH,23.9,41.671
$10V_AH,10.0,26.118
$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,32.775,24.075,307.325,111.250,0.000,38.767,36.842,184.883,8.000,0.000,1814.000,35.395,242.665,285.190,502.492,255.943,432.415,33.326,676.352,0.000,218.850,0.000,0.935
$DEVICE_MAMPS,205.556,108.914,595.192,545.337,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,78.576,0.000,0.000,0.000,0.000,0.000,0.000,1814.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,21.848,51.000
$DATA_FILE_SIZE,3328,124
$CFSIZE,260034560,249884672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,201136,4743.607,-12250.748,9,6.6,28,18.3