version: 66.02
glider: 116
mission: 6
dive: 176
start: 10 3 107 12 37 54
data:
$ID,116
$MISSION,6
$DIVE,176
$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,-33112.66
$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,16
$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
$GPS1,122605,4741.453,-12251.489,8,2.1,27,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-65.1
$GPS2,123644,4741.418,-12251.496,10,1.2,10,18.3
$SPEED_LIMITS,0.137,0.240
$TGT_NAME,9_XN
$TGT_LATLONG,4741.982,-12251.243
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.079,0.226
$KALMAN_X,29208.1,-73.5,189.4,-27006.1,-55.5
$KALMAN_Y,22452.4,-251.3,-72.6,-17180.3,-96.0
$MHEAD_RNG_PITCHd_Wd,1.0,1090,-13.9,-7.917
$D_GRID,115
$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,32,-1.34,-146.6,0.0,0.0,0,113,0.00,0.00,-78.22,0.000,2,0.000,0.000,133,1012,3305
$GC,117,-1.34,-146.6,2.2,-4.1,13,160,15.70,1.70,-19.67,0.000,4,0.207,0.113,2609,168,3880
$GC,299,-1.34,-146.6,14.8,-6.6,41,305,0.00,1.50,0.00,0.000,6,0.000,0.046,2608,1001,3881
$GC,372,-1.34,-146.6,18.9,-5.7,52,378,0.00,2.50,0.00,0.000,4,0.000,0.041,2608,2421,3881
$GC,629,-1.34,-146.6,34.2,-6.0,73,635,0.00,2.60,0.00,0.000,6,0.000,0.051,2608,998,3881
$GC,825,-1.34,-146.6,46.3,-6.0,89,830,0.00,2.50,0.00,0.000,4,0.000,0.041,2608,2413,3881
$GC,1049,-1.34,-146.6,59.8,-6.3,105,1055,0.00,2.58,0.00,0.000,6,0.000,0.051,2608,996,3881
$GC,1246,-1.34,-146.6,71.9,-6.2,121,1250,0.00,2.50,0.00,0.000,4,0.000,0.041,2608,2417,3881
$GC,1344,-1.34,-146.6,77.7,-5.2,128,1350,0.00,2.60,0.00,0.000,6,0.000,0.051,2608,991,3881
$GC,1540,-1.34,-146.6,88.4,-5.5,144,1545,0.00,2.53,0.00,0.000,4,0.000,0.041,2608,2420,3881
$STATE,1665,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1665,begin apogee
$GC,1672,-0.42,0.0,95.3,5.5,153,1852,0.98,0.00,173.38,0.642,6,0.094,0.000,2808,2516,3281
$STATE,1853,end apogee,CONTROL_FINISHED_OK
$STATE,1853,begin climb
$GC,1856,1.34,146.6,97.4,0.0,168,2040,1.75,2.62,171.10,0.612,4,0.059,0.049,3191,1092,2683
$GC,2068,1.34,146.6,80.5,11.1,185,2072,0.00,2.55,0.00,0.000,6,0.000,0.041,3191,2508,2682
$GC,2266,1.34,146.6,60.7,10.2,200,2270,0.00,2.58,0.00,0.000,4,0.000,0.049,3191,1085,2682
$GC,2306,1.34,146.6,56.3,10.5,202,2312,0.00,2.55,0.00,0.000,6,0.000,0.041,3192,2514,2682
$GC,2502,1.34,146.6,36.4,9.6,218,2506,0.00,2.60,0.00,0.000,4,0.000,0.073,3191,3891,2682
$GC,2567,1.34,146.6,29.3,10.5,222,2574,0.00,2.45,0.00,0.000,6,0.000,0.036,3191,2490,2682
$GC,2768,1.34,146.6,9.7,9.2,246,2774,0.00,2.62,0.00,0.000,4,0.000,0.067,3191,3890,2681
$STATE,2865,end climb,SURFACE_DEPTH_REACHED
$STATE,2865,begin surface coast
$FINISH,0.2,1.010069
$STATE,2892,end surface coast,CONTROL_FINISHED_OK
$STATE,2892,begin surface
$SM_CCo,2928,111.62,0.578,0,0,1649,400.08
$SM_GC,0.95,0.00,0.00,111.62,0.000,0.000,0.578,133,1006,1649,-12.76,0.17,400.08
$IRIDIUM_FIX,4726.11,-12255.26,031007,161629
$TT8_MAMPS,0.067496
$HUMID,2133
$INTERNAL_PRESSURE,11.4848
$TCM_TEMP,19.70
$XPDR_PINGS,171
$24V_AH,23.9,35.148
$10V_AH,10.1,21.704
$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,32.375,44.400,344.475,111.625,0.000,82.346,157.294,192.765,43.000,29.050,3782.950,11.005,483.884,1499.452,551.487,531.881,640.127,33.345,879.306,0.000,513.420,0.000,2.496
$DEVICE_MAMPS,207.090,112.749,641.979,578.318,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,174.018,0.000,0.000,0.000,0.000,0.000,0.000,3812.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6431,265
$CFSIZE,260034560,251768832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031007,132927,4741.686,-12251.361,15,1.5,15,18.3