version: 66.02
glider: 116
mission: 6
dive: 177
start: 10 3 107 13 43 19
data:
$ID,116
$MISSION,6
$DIVE,177
$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,-33143.762
$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
$GPS1,132927,4741.686,-12251.361,15,1.5,15,18.3
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,1
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-65.0
$GPS2,134208,4741.671,-12251.392,13,1.5,30,18.3
$SPEED_LIMITS,0.137,0.240
$TGT_NAME,9_XN
$TGT_LATLONG,4741.982,-12251.243
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.103,0.216
$KALMAN_X,29200.3,-92.2,155.1,-26816.9,-89.9
$KALMAN_Y,22404.1,-317.9,-36.7,-16635.1,-30.1
$MHEAD_RNG_PITCHd_Wd,7.2,605,-13.9,-7.917
$D_GRID,130
$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,-146.6,0.0,0.0,0,111,0.00,0.00,-78.12,0.000,2,0.000,0.000,133,1006,3296
$GC,115,-1.34,-146.6,2.1,-3.7,13,158,15.68,1.67,-20.08,0.000,4,0.206,0.111,2609,164,3880
$GC,319,-1.34,-146.6,16.3,-6.7,44,325,0.00,1.52,0.00,0.000,6,0.000,0.046,2609,1005,3881
$GC,392,-1.34,-146.6,21.1,-6.4,54,396,0.00,2.47,0.00,0.000,4,0.000,0.041,2609,2413,3881
$GC,650,-1.34,-146.6,36.2,-5.3,73,654,0.00,2.58,0.00,0.000,6,0.000,0.051,2609,996,3881
$GC,852,-1.34,-146.6,48.5,-6.0,89,857,0.00,2.50,0.00,0.000,4,0.000,0.041,2609,2414,3881
$GC,1110,-1.34,-146.6,64.2,-6.0,108,1115,0.00,2.58,0.00,0.000,6,0.000,0.051,2609,1000,3881
$GC,1306,-1.34,-146.6,76.5,-6.4,123,1311,0.00,2.50,0.00,0.000,4,0.000,0.041,2609,2413,3881
$GC,1478,-1.34,-146.6,87.0,-5.7,135,1484,0.00,2.58,0.00,0.000,6,0.000,0.051,2609,994,3881
$STATE,1620,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1623,begin apogee
$GC,1632,-0.42,0.0,95.8,6.4,147,1812,0.98,0.00,173.05,0.644,6,0.092,0.000,2809,2516,3281
$STATE,1813,end apogee,CONTROL_FINISHED_OK
$STATE,1813,begin climb
$GC,1816,1.34,146.6,99.0,0.0,162,1998,1.75,2.67,171.43,0.614,4,0.059,0.050,3198,1090,2683
$GC,2087,1.34,146.6,76.0,10.5,184,2091,0.00,2.55,0.00,0.000,6,0.000,0.041,3198,2511,2682
$GC,2285,1.34,146.6,54.2,11.0,199,2290,0.00,2.60,0.00,0.000,4,0.000,0.073,3198,3890,2682
$GC,2324,1.34,146.6,49.5,11.5,201,2331,0.00,2.45,0.00,0.000,6,0.000,0.037,3198,2494,2682
$GC,2520,1.34,146.6,29.2,10.3,217,2521,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2493,2682
$GC,2713,1.34,146.6,10.3,9.4,239,2720,0.00,2.62,0.00,0.000,4,0.000,0.067,3198,3889,2682
$STATE,2810,end climb,SURFACE_DEPTH_REACHED
$STATE,2810,begin surface coast
$FINISH,0.2,1.012351
$STATE,2831,end surface coast,CONTROL_FINISHED_OK
$STATE,2831,begin surface
$SM_CCo,2867,111.57,0.575,0,0,1649,400.08
$SM_GC,0.93,0.00,0.00,111.57,0.000,0.000,0.575,134,1013,1649,-12.75,0.37,400.08
$IRIDIUM_FIX,4722.92,-12249.11,031007,171741
$TT8_MAMPS,0.066729
$HUMID,2158
$INTERNAL_PRESSURE,11.4848
$TCM_TEMP,19.70
$XPDR_PINGS,162
$24V_AH,23.8,35.270
$10V_AH,10.1,21.787
$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,32.350,39.325,344.475,111.575,0.000,120.939,185.664,170.185,40.750,33.220,3829.780,30.474,466.857,1540.136,532.702,544.146,684.587,33.346,855.668,0.000,506.379,0.000,2.499
$DEVICE_MAMPS,206.323,111.215,643.513,575.250,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,169.005,0.000,0.000,0.000,0.000,0.000,0.000,3863.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6432,257
$CFSIZE,260034560,251736064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031007,143407,4741.912,-12251.239,14,1.5,31,18.3