version: 66.02
glider: 116
mission: 6
dive: 238
start: 10 5 107 20 24 41
data:
$ID,116
$MISSION,6
$DIVE,238
$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,-34515.82
$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,14
$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
$GPS1,201136,4743.607,-12250.748,9,6.6,28,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-66.3
$GPS2,202308,4743.630,-12250.730,12,1.8,17,18.3
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.010,-0.275
$KALMAN_X,29199.8,141.6,56.3,-26127.6,3.7
$KALMAN_Y,17810.3,86.5,-46.6,-8807.8,1.0
$MHEAD_RNG_PITCHd_Wd,159.5,125,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,30,-1.52,-127.1,0.0,0.0,0,104,0.00,0.00,-71.65,0.000,2,0.000,0.000,137,999,3178
$GC,109,-1.52,-127.1,2.0,-3.4,12,158,15.35,2.55,-24.52,0.000,4,0.203,0.051,2570,2420,3801
$GC,232,-1.52,-127.1,8.2,-7.4,31,238,0.00,2.58,0.00,0.000,6,0.000,0.048,2570,998,3802
$GC,305,-1.52,-127.1,14.1,-7.2,42,311,0.00,2.50,0.00,0.000,4,0.000,0.038,2570,2417,3802
$GC,379,-1.52,-127.1,18.6,-5.7,53,385,0.00,2.55,0.00,0.000,6,0.000,0.048,2570,999,3802
$GC,456,-1.52,-127.1,22.9,-5.7,61,461,0.00,2.50,0.00,0.000,4,0.000,0.038,2570,2421,3802
$GC,570,-1.52,-127.1,29.4,-5.8,69,574,0.00,2.58,0.00,0.000,6,0.000,0.048,2570,997,3802
$STATE,586,end dive,TARGET_DEPTH_EXCEEDED
$STATE,586,begin apogee
$GC,596,-0.42,0.0,30.3,5.6,70,750,1.17,0.00,148.82,0.597,6,0.103,0.000,2807,2519,3281
$STATE,754,end apogee,CONTROL_FINISHED_OK
$STATE,754,begin climb
$GC,757,1.52,127.1,31.4,0.0,83,908,1.95,0.00,143.10,0.570,6,0.058,0.000,3233,2519,2761
$GC,978,1.52,127.1,10.7,11.2,106,983,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2519,2761
$GC,1051,1.57,168.1,4.4,8.3,117,1075,0.00,0.00,19.48,0.571,6,0.000,0.000,3233,2519,2594
$STATE,1079,end climb,SURFACE_DEPTH_REACHED
$STATE,1079,begin surface coast
$FINISH,0.5,1.010528
$STATE,1100,end surface coast,CONTROL_FINISHED_OK
$STATE,1100,begin surface
$SM_CCo,1135,101.10,0.545,0,0,1649,400.08
$SM_GC,1.26,0.00,0.00,101.10,0.000,0.000,0.545,135,996,1649,-12.74,-0.11,400.08
$IRIDIUM_FIX,4726.11,-12248.15,061007,000001
$TT8_MAMPS,0.066729
$HUMID,2087
$INTERNAL_PRESSURE,11.5043
$TCM_TEMP,19.80
$XPDR_PINGS,17
$24V_AH,24.0,41.767
$10V_AH,10.0,26.169
$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,32.700,20.825,311.400,101.100,0.000,77.416,77.924,312.066,4.250,0.000,2102.000,17.535,240.134,350.321,502.050,233.424,647.975,33.325,677.207,0.000,217.135,0.000,0.935
$DEVICE_MAMPS,203.255,50.622,596.726,545.337,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,79.147,0.000,0.000,0.000,0.000,0.000,0.000,2102.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,21.848,51.000
$DATA_FILE_SIZE,3313,125
$CFSIZE,260034560,249856000
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,204603,4743.565,-12250.681,14,1.6,14,18.3