version: 66.02
glider: 116
mission: 6
dive: 164
start: 10 3 107 0 57 42
data:
$ID,116
$MISSION,6
$DIVE,164
$D_SURF,2
$D_FLARE,2
$D_TGT,100
$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,-32811.234
$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,11
$R_STBD_OVSHOOT,17
$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
$GPS1,004907,4739.084,-12253.021,14,1.6,24,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-62.9
$GPS2,005632,4739.154,-12252.928,12,1.5,17,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,11_XS
$TGT_LATLONG,4740.927,-12251.586
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.108,0.219
$KALMAN_X,28040.2,540.6,270.7,-28327.5,46.2
$KALMAN_Y,22338.2,511.0,406.4,-22507.1,73.8
$MHEAD_RNG_PITCHd_Wd,8.0,3684,-14.6,-8.333
$D_GRID,127
$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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,31,-1.40,-146.6,0.0,0.0,0,112,0.00,0.00,-78.82,0.000,2,0.000,0.000,135,1012,3303
$GC,116,-1.40,-146.6,2.1,-4.6,13,160,15.77,2.50,-20.70,0.000,4,0.210,0.053,2596,2416,3879
$GC,411,-1.40,-146.6,20.0,-6.0,58,417,0.00,2.58,0.00,0.000,6,0.000,0.051,2596,1000,3881
$GC,607,-1.40,-146.6,31.9,-6.2,74,611,0.00,1.65,0.00,0.000,4,0.000,0.097,2596,155,3881
$GC,864,-1.40,-146.6,49.7,-6.9,93,870,0.00,1.52,0.00,0.000,6,0.000,0.048,2595,1001,3880
$GC,1060,-1.40,-146.6,62.2,-6.3,109,1064,0.00,1.62,0.00,0.000,4,0.000,0.089,2596,161,3881
$GC,1159,-1.40,-146.6,68.8,-6.8,116,1165,0.00,1.52,0.00,0.000,6,0.000,0.047,2595,1004,3880
$GC,1355,-1.40,-146.6,82.2,-7.2,132,1359,0.00,2.47,0.00,0.000,4,0.000,0.041,2596,2412,3880
$GC,1476,-1.40,-146.6,90.3,-7.0,140,1482,0.00,2.58,0.00,0.000,6,0.000,0.051,2595,992,3880
$STATE,1606,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1606,begin apogee
$GC,1618,-0.42,0.0,100.3,7.6,151,1798,1.05,0.00,173.27,0.647,6,0.099,0.000,2808,2507,3281
$STATE,1799,end apogee,CONTROL_FINISHED_OK
$STATE,1799,begin climb
$GC,1802,1.40,146.6,104.5,0.0,166,1985,1.85,2.65,171.05,0.617,4,0.061,0.051,3210,1095,2683
$GC,2012,1.40,146.6,87.9,11.1,183,2016,0.00,2.55,0.00,0.000,6,0.000,0.041,3210,2511,2683
$GC,2207,1.40,146.6,66.5,11.3,198,2209,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2511,2683
$GC,2400,1.40,146.6,44.7,11.2,213,2404,0.00,2.58,0.00,0.000,4,0.000,0.049,3210,1087,2683
$GC,2434,1.40,146.6,40.6,12.0,215,2439,0.00,2.55,0.00,0.000,6,0.000,0.041,3210,2512,2683
$GC,2630,1.40,146.6,18.1,11.6,231,2637,0.00,2.60,0.00,0.000,4,0.000,0.073,3210,3892,2682
$GC,2663,1.40,146.6,14.0,12.7,236,2670,0.00,2.45,0.00,0.000,6,0.000,0.038,3210,2493,2683
$GC,2736,1.40,146.6,6.2,9.3,247,2742,0.00,2.50,0.00,0.000,4,0.000,0.051,3210,1102,2682
$STATE,2786,end climb,SURFACE_DEPTH_REACHED
$STATE,2786,begin surface coast
$FINISH,0.1,1.021767
$STATE,2818,end surface coast,CONTROL_FINISHED_OK
$STATE,2818,begin surface
$SM_CCo,2847,111.32,0.576,0,0,1650,400.08
$SM_GC,0.77,0.00,0.00,111.32,0.000,0.000,0.576,133,1007,1650,-12.75,0.20,400.08
$IRIDIUM_FIX,4722.92,-12251.79,031007,030304
$TT8_MAMPS,0.069797
$HUMID,2130
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,19.70
$XPDR_PINGS,166
$24V_AH,23.9,33.783
$10V_AH,10.1,20.798
$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,32.600,37.250,344.325,111.325,0.000,40.331,30.561,222.440,42.000,0.000,3540.000,17.041,465.797,1427.442,535.911,505.078,496.734,33.338,850.992,0.000,478.254,0.000,4.056
$DEVICE_MAMPS,210.158,96.642,647.348,576.017,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,170.058,0.000,0.000,0.000,0.000,0.000,0.000,3540.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6449,259
$CFSIZE,260034560,252153856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031007,014807,4739.404,-12252.744,13,1.2,29,18.3