version: 66.02
glider: 116
mission: 6
dive: 174
start: 10 3 107 10 35 21
data:
$ID,116
$MISSION,6
$DIVE,174
$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,-33063.234
$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,15
$R_STBD_OVSHOOT,19
$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
$GPS1,102737,4741.099,-12251.581,42,1.0,53,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-66.4
$GPS2,103410,4741.050,-12251.586,11,1.4,11,18.3
$SPEED_LIMITS,0.137,0.240
$TGT_NAME,10_XC
$TGT_LATLONG,4741.454,-12251.414
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.009,0.239
$KALMAN_X,29284.1,-21.4,100.6,-27157.6,114.4
$KALMAN_Y,22802.1,-79.7,-178.7,-18276.6,-97.8
$MHEAD_RNG_PITCHd_Wd,343.8,779,-13.9,-7.917
$D_GRID,101
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-1.34,-146.6,0.0,0.0,0,110,0.00,0.00,-78.15,0.000,2,0.000,0.000,134,1010,3317
$GC,114,-1.34,-146.6,2.2,-4.2,13,157,15.77,2.53,-18.38,0.000,4,0.208,0.054,2608,2409,3881
$GC,408,-1.34,-146.6,21.4,-5.9,56,415,0.00,2.55,0.00,0.000,6,0.000,0.050,2608,1002,3882
$GC,604,-1.34,-146.6,33.2,-6.0,72,609,0.00,2.50,0.00,0.000,4,0.000,0.040,2608,2414,3881
$GC,863,-1.34,-146.6,48.1,-6.4,91,867,0.00,2.58,0.00,0.000,6,0.000,0.051,2608,997,3881
$GC,1066,-1.34,-146.6,61.3,-6.5,107,1070,0.00,2.50,0.00,0.000,4,0.000,0.040,2608,2416,3882
$GC,1209,-1.34,-146.6,69.4,-5.7,117,1214,0.00,2.58,0.00,0.000,6,0.000,0.050,2608,996,3882
$GC,1405,-1.34,-146.6,80.7,-5.6,132,1409,0.00,2.50,0.00,0.000,4,0.000,0.040,2608,2415,3881
$STATE,1647,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1647,begin apogee
$GC,1655,-0.42,0.0,95.1,6.0,150,1835,0.98,0.00,173.85,0.644,6,0.094,0.000,2807,2514,3282
$STATE,1837,end apogee,CONTROL_FINISHED_OK
$STATE,1837,begin climb
$GC,1840,1.34,146.6,96.9,0.0,165,2022,1.77,2.65,171.35,0.613,4,0.060,0.076,3193,3888,2683
$GC,2076,1.34,146.6,76.6,11.1,184,2080,0.00,2.47,0.00,0.000,6,0.000,0.038,3194,2489,2683
$GC,2271,1.34,146.6,57.2,9.9,199,2275,0.00,2.50,0.00,0.000,4,0.000,0.051,3194,1102,2682
$GC,2304,1.34,146.6,53.7,10.6,201,2308,0.00,2.50,0.00,0.000,6,0.000,0.041,3194,2510,2682
$GC,2506,1.34,146.6,33.0,10.2,217,2511,0.00,2.60,0.00,0.000,4,0.000,0.071,3193,3891,2682
$GC,2545,1.34,146.6,28.8,10.8,219,2552,0.00,2.42,0.00,0.000,6,0.000,0.037,3194,2505,2682
$GC,2746,1.34,146.6,9.2,8.6,243,2752,0.00,2.60,0.00,0.000,4,0.000,0.068,3194,3890,2682
$STATE,2832,end climb,SURFACE_DEPTH_REACHED
$STATE,2832,begin surface coast
$FINISH,0.2,1.010689
$STATE,2850,end surface coast,CONTROL_FINISHED_OK
$STATE,2850,begin surface
$SM_CCo,2886,111.70,0.575,0,0,1650,400.08
$SM_GC,0.87,0.00,0.00,111.70,0.000,0.000,0.575,133,1004,1650,-12.75,0.14,400.08
$IRIDIUM_FIX,4722.92,-12249.11,031007,131345
$TT8_MAMPS,0.066729
$HUMID,2138
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,19.70
$XPDR_PINGS,167
$24V_AH,23.9,34.915
$10V_AH,10.1,21.545
$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,32.625,40.900,345.200,111.700,0.000,39.834,37.100,171.289,42.000,24.900,3526.100,13.960,472.410,1434.314,529.724,532.576,450.789,33.339,857.729,0.000,511.004,0.000,2.495
$DEVICE_MAMPS,207.857,75.933,644.280,575.250,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,170.476,0.000,0.000,0.000,0.000,0.000,0.000,3551.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6465,259
$CFSIZE,260034560,251834368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031007,112609,4741.245,-12251.553,12,1.6,12,18.3