version: 66.02
glider: 116
mission: 6
dive: 229
start: 10 5 107 15 0 43
data:
$ID,116
$MISSION,6
$DIVE,229
$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,-34318.895
$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
$GPS1,145223,4743.582,-12250.646,13,2.2,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-65.6
$GPS2,145933,4743.577,-12250.642,15,1.9,15,18.3
$SPEED_LIMITS,0.193,0.216
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.175,-0.083
$KALMAN_X,28946.8,-5.9,8.4,-25566.7,60.5
$KALMAN_Y,17581.4,-37.9,-39.0,-8561.5,54.0
$MHEAD_RNG_PITCHd_Wd,226.4,107,-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,-98.7,0.0,0.0,0,107,0.00,0.00,-72.20,0.000,2,0.000,0.000,136,1012,3177
$GC,112,-1.45,-127.1,2.1,-2.3,12,161,15.60,2.55,-23.73,0.000,4,0.209,0.050,2581,2425,3801
$GC,413,-1.45,-127.1,21.4,-6.4,57,417,0.00,2.58,0.00,0.000,6,0.000,0.048,2581,995,3802
$GC,616,-1.45,-127.1,33.8,-5.7,73,620,0.00,2.50,0.00,0.000,4,0.000,0.039,2581,2417,3802
$GC,874,-1.45,-127.1,47.5,-4.9,92,879,0.00,2.55,0.00,0.000,6,0.000,0.049,2581,999,3802
$GC,1077,-1.45,-127.1,59.3,-6.1,108,1082,0.00,2.50,0.00,0.000,4,0.000,0.038,2584,2423,3802
$GC,1338,-1.45,-127.1,74.2,-6.1,127,1342,0.00,2.58,0.00,0.000,6,0.000,0.049,2581,999,3803
$GC,1535,-1.45,-127.1,86.4,-5.9,142,1539,0.00,2.50,0.00,0.000,4,0.000,0.038,2581,2423,3802
$STATE,1683,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1683,begin apogee
$GC,1691,-0.42,0.0,95.1,6.0,153,1846,1.12,0.00,150.80,0.644,6,0.099,0.000,2810,2519,3281
$STATE,1850,end apogee,CONTROL_FINISHED_OK
$STATE,1850,begin climb
$GC,1853,1.45,127.1,97.0,0.0,166,2014,1.88,2.62,148.70,0.613,4,0.059,0.047,3219,1087,2762
$GC,2095,1.45,127.1,75.2,11.6,185,2099,0.00,2.55,0.00,0.000,6,0.000,0.039,3219,2515,2761
$GC,2291,1.45,127.1,52.2,11.7,200,2292,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2515,2761
$GC,2485,1.45,127.1,30.3,11.6,215,2489,0.00,2.58,0.00,0.000,4,0.000,0.071,3219,3890,2761
$GC,2558,1.45,127.1,21.0,12.7,220,2562,0.00,2.45,0.00,0.000,6,0.000,0.035,3219,2486,2761
$STATE,2759,end climb,SURFACE_DEPTH_REACHED
$STATE,2759,begin surface coast
$FINISH,0.5,1.001097
$STATE,2779,end surface coast,CONTROL_FINISHED_OK
$STATE,2780,begin surface
$SM_CCo,2812,119.88,0.569,0,0,1649,400.08
$SM_GC,1.10,0.00,0.00,119.88,0.000,0.000,0.569,134,1009,1649,-12.75,0.25,400.08
$IRIDIUM_FIX,4726.11,-12250.84,051007,171705
$TT8_MAMPS,0.070564
$HUMID,2121
$INTERNAL_PRESSURE,11.4848
$TCM_TEMP,19.70
$XPDR_PINGS,163
$24V_AH,23.9,40.947
$10V_AH,10.0,25.746
$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,32.775,30.825,299.500,119.875,0.000,39.224,40.277,192.218,41.000,0.000,3503.000,15.184,472.356,1412.941,489.040,528.210,486.432,33.339,801.825,0.000,502.134,0.000,2.496
$DEVICE_MAMPS,208.624,70.564,643.513,569.114,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,166.513,0.000,0.000,0.000,0.000,0.000,0.000,3503.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,21.848,51.000
$DATA_FILE_SIZE,6438,252
$CFSIZE,260034560,250064896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,155047,4743.660,-12250.916,13,3.2,32,18.3