version: 66.02
glider: 116
mission: 6
dive: 218
start: 10 5 107 3 19 28
data:
$ID,116
$MISSION,6
$DIVE,218
$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,45
$T_MISSION,90
$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,130
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$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,-34072.254
$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,20
$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
$GPS1,031051,4743.474,-12250.755,13,1.7,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-59.0
$GPS2,031820,4743.543,-12250.737,16,1.3,33,18.3
$SPEED_LIMITS,0.193,0.216
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.063,0.183
$KALMAN_X,29172.1,-117.9,-135.9,-25654.4,-48.5
$KALMAN_Y,18470.4,-312.4,-261.2,-9011.5,-148.4
$MHEAD_RNG_PITCHd_Wd,0.8,40,-15.6,-7.037
$D_GRID,167
$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,29,end surface,CONTROL_FINISHED_OK
$STATE,29,begin dive
$GC,33,-1.42,-98.7,0.0,0.0,0,158,0.00,0.00,-122.30,0.000,2,0.000,0.000,136,995,3314
$GC,163,-1.45,-127.1,2.1,-2.6,20,200,15.45,2.58,-16.10,0.000,4,0.203,0.050,2583,2419,3800
$GC,293,-1.45,-127.1,10.6,-7.5,40,299,0.00,2.58,0.00,0.000,6,0.000,0.048,2583,999,3802
$GC,367,-1.45,-127.1,16.0,-7.2,51,373,0.00,2.50,0.00,0.000,4,0.000,0.038,2583,2417,3802
$GC,486,-1.45,-127.1,22.3,-4.8,66,490,0.00,2.58,0.00,0.000,6,0.000,0.048,2583,997,3802
$GC,682,-1.45,-127.1,33.5,-6.2,81,686,0.00,2.50,0.00,0.000,4,0.000,0.038,2583,2418,3802
$GC,795,-1.45,-127.1,40.1,-5.9,89,799,0.00,2.58,0.00,0.000,6,0.000,0.049,2583,996,3803
$GC,991,-1.45,-127.1,51.9,-5.8,104,995,0.00,2.50,0.00,0.000,4,0.000,0.038,2583,2418,3803
$GC,1112,-1.45,-127.1,58.7,-5.2,112,1118,0.00,2.58,0.00,0.000,6,0.000,0.049,2583,992,3803
$GC,1310,-1.45,-127.1,69.7,-5.6,128,1314,0.00,2.50,0.00,0.000,4,0.000,0.039,2583,2415,3803
$GC,1535,-1.45,-127.1,81.9,-4.9,144,1541,0.00,2.55,0.00,0.000,6,0.000,0.050,2583,1001,3803
$GC,1731,-1.45,-127.1,93.3,-6.3,160,1735,0.00,2.47,0.00,0.000,4,0.000,0.038,2583,2414,3803
$STATE,1755,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1755,begin apogee
$GC,1763,-0.42,0.0,95.0,6.4,162,1918,1.10,0.00,150.73,0.644,6,0.098,0.000,2808,2512,3281
$STATE,1921,end apogee,CONTROL_FINISHED_OK
$STATE,1921,begin climb
$GC,1925,1.45,127.1,96.9,0.0,175,2085,1.88,2.60,148.93,0.614,4,0.058,0.048,3226,1088,2761
$GC,2158,1.45,127.1,75.1,12.3,193,2164,0.00,2.55,0.00,0.000,6,0.000,0.040,3226,2513,2761
$GC,2354,1.45,127.1,51.8,12.0,209,2358,0.00,2.60,0.00,0.000,4,0.000,0.073,3225,3891,2761
$GC,2393,1.45,127.1,46.8,12.9,211,2399,0.00,2.45,0.00,0.000,6,0.000,0.036,3226,2494,2761
$GC,2589,1.45,127.1,24.2,11.2,227,2593,0.00,2.47,0.00,0.000,4,0.000,0.049,3226,1110,2760
$GC,2622,1.45,127.1,20.5,11.4,229,2627,0.00,2.47,0.00,0.000,6,0.000,0.040,3225,2511,2760
$STATE,2824,end climb,SURFACE_DEPTH_REACHED
$STATE,2824,begin surface coast
$FINISH,0.4,1.021964
$STATE,2851,end surface coast,CONTROL_FINISHED_OK
$STATE,2852,begin surface
$SM_CCo,2884,120.00,0.571,0,0,1649,400.08
$SM_GC,1.10,0.00,0.00,120.00,0.000,0.000,0.571,134,1010,1649,-12.75,0.28,400.08
$IRIDIUM_FIX,4729.30,-12252.58,051007,060639
$TT8_MAMPS,0.06903
$HUMID,2132
$INTERNAL_PRESSURE,11.4848
$TCM_TEMP,19.70
$XPDR_PINGS,161
$24V_AH,23.9,39.706
$10V_AH,10.1,24.842
$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,32.400,45.975,299.650,120.000,0.000,41.143,43.857,190.776,40.500,0.000,3688.000,33.477,474.622,1421.297,536.301,542.091,503.929,33.340,867.878,0.000,500.030,0.000,2.496
$DEVICE_MAMPS,203.255,72.865,643.513,571.415,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,172.666,0.000,0.000,0.000,0.000,0.000,0.000,3688.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,21.848,51.000
$DATA_FILE_SIZE,6464,263
$CFSIZE,260034560,250408960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,041041,4743.729,-12250.638,10,2.4,29,18.3