version: 66.02
glider: 116
mission: 6
dive: 168
start: 10 3 107 5 12 26
data:
$ID,116
$MISSION,6
$DIVE,168
$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,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,-32923.039
$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
$GPS1,045502,4740.315,-12252.203,9,1.3,14,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-64.9
$GPS2,051114,4740.369,-12252.271,11,2.0,16,18.3
$SPEED_LIMITS,0.137,0.240
$TGT_NAME,11_XS
$TGT_LATLONG,4740.927,-12251.586
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.180,0.158
$KALMAN_X,28172.2,250.6,-68.9,-27005.1,-196.8
$KALMAN_Y,23173.3,357.5,23.6,-20555.0,-95.6
$MHEAD_RNG_PITCHd_Wd,30.3,1341,-13.9,-7.917
$D_GRID,117
$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,-1.34,-146.6,0.0,0.0,0,110,0.00,0.00,-78.00,0.000,2,0.000,0.000,135,1000,3276
$GC,115,-1.34,-146.6,2.1,-3.9,13,157,15.80,0.00,-20.75,0.000,6,0.208,0.000,2611,1001,3879
$GC,224,-1.34,-146.6,9.4,-8.8,30,230,0.00,2.50,0.00,0.000,4,0.000,0.041,2611,2416,3880
$GC,484,-1.34,-146.6,27.5,-5.2,59,490,0.00,2.55,0.00,0.000,6,0.000,0.050,2611,1003,3882
$GC,680,-1.34,-146.6,39.8,-6.4,75,684,0.00,2.50,0.00,0.000,4,0.000,0.040,2611,2416,3880
$GC,936,-1.34,-146.6,54.1,-5.2,94,943,0.00,2.58,0.00,0.000,6,0.000,0.051,2611,995,3880
$GC,1133,-1.34,-146.6,64.1,-5.2,110,1137,0.00,2.50,0.00,0.000,4,0.000,0.041,2611,2420,3880
$GC,1292,-1.34,-146.6,72.5,-5.4,122,1296,0.00,2.58,0.00,0.000,6,0.000,0.051,2611,1000,3881
$GC,1488,-1.34,-146.6,84.1,-5.9,137,1492,0.00,2.50,0.00,0.000,4,0.000,0.040,2611,2416,3881
$GC,1561,-1.34,-146.6,87.7,-4.7,142,1565,0.00,2.58,0.00,0.000,6,0.000,0.049,2611,993,3880
$STATE,1690,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1691,begin apogee
$GC,1700,-0.42,0.0,95.0,6.1,152,1880,0.98,0.00,173.43,0.644,6,0.097,0.000,2809,2510,3281
$STATE,1881,end apogee,CONTROL_FINISHED_OK
$STATE,1881,begin climb
$GC,1884,1.34,146.6,96.8,0.0,167,2067,1.77,2.65,171.12,0.612,4,0.059,0.050,3195,1091,2683
$GC,2194,1.34,146.6,69.9,10.4,191,2200,0.00,2.55,0.00,0.000,6,0.000,0.041,3195,2518,2683
$GC,2389,1.34,146.6,50.4,9.7,207,2390,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2518,2682
$GC,2583,1.34,146.6,31.9,10.3,222,2587,0.00,2.58,0.00,0.000,4,0.000,0.072,3195,3890,2682
$GC,2642,1.34,146.6,25.0,11.2,226,2646,0.00,2.53,0.00,0.000,6,0.000,0.037,3195,2496,2682
$GC,2844,1.37,174.1,7.6,6.9,252,2874,0.00,0.00,23.33,0.617,6,0.000,0.000,3195,2495,2571
$STATE,2918,end climb,SURFACE_DEPTH_REACHED
$STATE,2918,begin surface coast
$FINISH,0.2,1.021936
$STATE,2945,end surface coast,CONTROL_FINISHED_OK
$STATE,2945,begin surface
$SM_CCo,2978,99.03,0.575,0,0,1650,400.08
$SM_GC,0.91,0.00,0.00,99.03,0.000,0.000,0.575,131,1004,1650,-12.76,0.11,400.08
$IRIDIUM_FIX,4722.92,-12249.11,031007,090956
$TT8_MAMPS,0.071331
$HUMID,2122
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,19.70
$XPDR_PINGS,174
$24V_AH,23.9,34.279
$10V_AH,10.0,21.129
$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,32.375,36.075,367.875,99.025,0.000,157.483,242.934,239.141,43.750,24.900,4142.100,16.964,480.878,1663.012,536.498,547.866,850.819,33.332,873.442,0.000,522.284,0.000,2.496
$DEVICE_MAMPS,207.857,72.098,643.513,575.250,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,175.945,0.000,0.000,0.000,0.000,0.000,0.000,4167.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6447,268
$CFSIZE,260034560,252014592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031007,060433,4740.524,-12251.905,11,1.2,12,18.3