version: 66.02
glider: 116
mission: 6
dive: 182
start: 10 3 107 18 31 38
data:
$ID,116
$MISSION,6
$DIVE,182
$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,-33255.234
$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,21
$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
$GPS1,182037,4743.026,-12250.951,29,1.0,29,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-62.0
$GPS2,183027,4743.075,-12250.899,15,1.5,15,18.3
$SPEED_LIMITS,0.137,0.240
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.054,0.233
$KALMAN_X,29243.1,-99.4,-135.4,-25947.2,15.9
$KALMAN_Y,22419.5,-285.9,93.5,-14211.6,47.5
$MHEAD_RNG_PITCHd_Wd,354.8,929,-13.9,-7.917
$D_GRID,165
$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,-146.6,0.0,0.0,0,117,0.00,0.00,-84.05,0.000,2,0.000,0.000,133,1002,3436
$GC,121,-1.34,-146.6,2.3,-4.5,14,158,15.82,1.67,-13.20,0.000,4,0.208,0.111,2610,168,3881
$GC,409,-1.34,-146.6,23.2,-7.2,55,413,0.00,1.52,0.00,0.000,6,0.000,0.045,2610,1004,3881
$GC,612,-1.34,-146.6,35.5,-5.9,71,616,0.00,2.50,0.00,0.000,4,0.000,0.051,2610,2420,3882
$GC,770,-1.34,-146.6,44.5,-5.5,82,776,0.00,2.58,0.00,0.000,6,0.000,0.050,2610,999,3881
$GC,966,-1.34,-146.6,55.6,-5.4,98,970,0.00,2.50,0.00,0.000,4,0.000,0.041,2610,2422,3882
$GC,1146,-1.34,-146.6,65.4,-5.7,111,1152,0.00,2.58,0.00,0.000,6,0.000,0.050,2610,999,3882
$GC,1342,-1.34,-146.6,76.9,-6.0,127,1346,0.00,2.50,0.00,0.000,4,0.000,0.041,2610,2417,3881
$GC,1513,-1.34,-146.6,87.1,-6.5,139,1519,0.00,2.58,0.00,0.000,6,0.000,0.051,2610,998,3881
$STATE,1643,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1643,begin apogee
$GC,1653,-0.42,0.0,95.7,6.3,150,1833,0.98,0.00,173.70,0.640,6,0.091,0.000,2810,2514,3282
$STATE,1834,end apogee,CONTROL_FINISHED_OK
$STATE,1834,begin climb
$GC,1837,1.34,146.6,99.0,0.0,165,2019,1.75,2.65,171.70,0.611,4,0.059,0.049,3198,1098,2683
$GC,2067,1.34,146.6,80.3,10.4,184,2071,0.00,2.55,0.00,0.000,6,0.000,0.041,3198,2514,2683
$GC,2262,1.34,146.6,58.6,11.3,199,2263,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2514,2683
$GC,2454,1.34,146.6,38.1,10.7,214,2458,0.00,2.58,0.00,0.000,4,0.000,0.049,3199,1088,2682
$GC,2474,1.34,146.6,35.5,11.2,215,2478,0.00,2.55,0.00,0.000,6,0.000,0.041,3199,2516,2682
$GC,2671,1.34,146.6,14.7,10.4,233,2676,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2516,2682
$GC,2743,1.34,146.6,7.9,9.3,244,2748,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2516,2682
$GC,2816,1.36,166.3,2.5,7.2,255,2822,0.00,0.00,5.12,0.673,2,0.000,0.000,3198,2516,2654
$STATE,2823,end climb,SURFACE_DEPTH_REACHED
$STATE,2824,begin surface coast
$FINISH,0.2,1.010776
$STATE,2848,end surface coast,CONTROL_FINISHED_OK
$STATE,2848,begin surface
$SM_CCo,2882,107.65,0.574,0,0,1650,400.08
$SM_GC,0.80,0.00,0.00,107.65,0.000,0.000,0.574,136,996,1650,-12.73,-0.11,400.08
$IRIDIUM_FIX,4726.11,-12250.84,031007,222255
$TT8_MAMPS,0.067496
$HUMID,2145
$INTERNAL_PRESSURE,11.4848
$TCM_TEMP,19.70
$XPDR_PINGS,163
$24V_AH,23.4,35.822
$10V_AH,10.0,22.159
$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,32.525,34.325,350.525,107.650,0.000,80.574,70.438,227.890,41.000,16.600,3726.400,15.175,467.139,1506.962,537.211,508.861,589.742,33.340,852.122,0.000,485.482,0.000,2.495
$DEVICE_MAMPS,207.857,111.215,673.426,573.716,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,170.850,0.000,0.000,0.000,0.000,0.000,0.000,3743.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6459,260
$CFSIZE,260034560,251576320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031007,192220,4743.338,-12250.801,9,1.3,14,18.3