version: 66.02
glider: 116
mission: 6
dive: 165
start: 10 3 107 2 0 37
data:
$ID,116
$MISSION,6
$DIVE,165
$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,-32840.965
$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,17
$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
$GPS1,014807,4739.404,-12252.744,13,1.2,29,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-65.3
$GPS2,015928,4739.524,-12252.655,16,1.3,29,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,11_XS
$TGT_LATLONG,4740.927,-12251.586
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.115,0.215
$KALMAN_X,28219.8,489.8,221.5,-28062.0,-12.8
$KALMAN_Y,22570.7,476.7,358.7,-21969.0,-3.4
$MHEAD_RNG_PITCHd_Wd,9.8,2920,-14.6,-8.333
$D_GRID,123
$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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,31,-1.40,-146.6,0.0,0.0,0,118,0.00,0.00,-84.15,0.000,2,0.000,0.000,134,1007,3426
$GC,122,-1.40,-146.6,2.2,-4.9,14,159,15.60,2.58,-16.33,0.000,4,0.206,0.054,2595,2422,3880
$GC,293,-1.40,-146.6,11.1,-6.1,40,299,0.00,2.60,0.00,0.000,6,0.000,0.051,2595,999,3881
$GC,366,-1.40,-146.6,15.7,-6.5,51,372,0.00,1.62,0.00,0.000,4,0.000,0.097,2595,167,3881
$GC,623,-1.40,-146.6,33.8,-7.2,75,630,0.00,1.52,0.00,0.000,6,0.000,0.047,2595,1003,3881
$GC,820,-1.40,-146.6,46.7,-6.4,91,823,0.00,1.62,0.00,0.000,4,0.000,0.088,2595,166,3881
$GC,891,-1.40,-146.6,52.0,-7.5,96,898,0.00,1.50,0.00,0.000,6,0.000,0.047,2595,997,3881
$GC,1088,-1.40,-146.6,64.4,-6.0,112,1092,0.00,2.50,0.00,0.000,4,0.000,0.042,2595,2414,3881
$GC,1312,-1.40,-146.6,77.7,-6.3,128,1318,0.00,2.58,0.00,0.000,6,0.000,0.051,2595,1000,3881
$GC,1511,-1.40,-146.6,90.4,-7.2,144,1515,0.00,2.50,0.00,0.000,4,0.000,0.042,2595,2410,3881
$GC,1584,-1.40,-146.6,95.5,-6.9,149,1588,0.00,2.58,0.00,0.000,6,0.000,0.052,2595,998,3881
$STATE,1651,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1651,begin apogee
$GC,1661,-0.42,0.0,100.3,6.9,154,1841,1.05,0.00,173.15,0.647,6,0.097,0.000,2808,2509,3281
$STATE,1842,end apogee,CONTROL_FINISHED_OK
$STATE,1842,begin climb
$GC,1845,1.40,146.6,101.8,0.0,169,2030,1.83,2.62,171.43,0.614,4,0.059,0.050,3206,1092,2683
$GC,2098,1.40,146.6,79.2,11.6,189,2103,0.00,2.55,0.00,0.000,6,0.000,0.041,3207,2511,2683
$GC,2294,1.40,146.6,57.1,11.1,204,2298,0.00,2.60,0.00,0.000,4,0.000,0.073,3207,3890,2683
$GC,2319,1.40,146.6,54.0,11.9,205,2326,0.00,2.47,0.00,0.000,6,0.000,0.038,3207,2498,2683
$GC,2516,1.40,146.6,33.5,9.8,221,2517,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2497,2682
$GC,2707,1.40,146.6,14.0,12.1,239,2713,0.00,2.62,0.00,0.000,4,0.000,0.069,3207,3890,2682
$GC,2760,1.40,146.6,8.5,9.7,247,2766,0.00,2.42,0.00,0.000,6,0.000,0.038,3207,2500,2682
$GC,2833,1.59,301.5,4.7,2.4,258,2883,0.17,0.00,46.88,0.597,2,0.063,0.000,3249,2499,2334
$STATE,2884,end climb,SURFACE_DEPTH_REACHED
$STATE,2884,begin surface coast
$FINISH,0.1,1.005672
$STATE,2911,end surface coast,CONTROL_FINISHED_OK
$STATE,2911,begin surface
$SM_CCo,2943,73.43,0.576,0,0,1649,400.08
$SM_GC,0.93,0.00,0.00,73.43,0.000,0.000,0.576,137,1014,1649,-12.73,0.40,400.08
$IRIDIUM_FIX,4722.92,-12251.79,031007,050527
$TT8_MAMPS,0.066729
$HUMID,2140
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,19.60
$XPDR_PINGS,170
$24V_AH,23.9,33.909
$10V_AH,10.0,20.882
$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,32.725,42.400,391.450,73.425,0.000,75.944,70.455,304.610,43.000,29.060,3837.940,29.100,478.781,1489.441,551.237,537.644,667.027,33.342,883.518,0.000,502.565,0.000,4.057
$DEVICE_MAMPS,205.556,96.642,647.348,576.017,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,176.559,0.000,0.000,0.000,0.000,0.000,0.000,3867.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6447,270
$CFSIZE,260034560,252108800
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031007,025144,4739.820,-12252.545,8,1.7,13,18.3