version: 66.02
glider: 116
mission: 6
dive: 219
start: 10 5 107 4 23 15
data:
$ID,116
$MISSION,6
$DIVE,219
$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,-34101.496
$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,18
$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
$GPS1,041041,4743.729,-12250.638,10,2.4,29,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-65.5
$GPS2,042207,4743.653,-12250.685,12,1.3,28,18.3
$SPEED_LIMITS,0.193,0.216
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.072,-0.179
$KALMAN_X,29080.9,-140.5,-120.7,-25490.1,-11.3
$KALMAN_Y,18234.3,-361.8,-250.4,-8534.4,-69.5
$MHEAD_RNG_PITCHd_Wd,183.7,174,-15.6,-7.037
$D_GRID,168
$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,-98.7,0.0,0.0,0,114,0.00,0.00,-77.93,0.000,2,0.000,0.000,134,1010,3289
$GC,118,-1.45,-127.1,2.2,-2.7,13,161,15.52,2.55,-17.23,0.000,4,0.205,0.051,2583,2419,3801
$GC,190,-1.45,-127.1,6.0,-6.4,24,197,0.00,2.58,0.00,0.000,6,0.000,0.048,2584,999,3801
$GC,264,-1.45,-127.1,12.1,-8.1,35,270,0.00,1.62,0.00,0.000,4,0.000,0.094,2584,163,3801
$GC,522,-1.45,-127.1,28.8,-5.6,63,528,0.00,1.50,0.00,0.000,6,0.000,0.045,2583,1000,3802
$GC,718,-1.45,-127.1,39.6,-5.7,79,722,0.00,1.62,0.00,0.000,4,0.000,0.087,2584,162,3802
$GC,860,-1.45,-127.1,48.6,-6.8,89,865,0.00,1.50,0.00,0.000,6,0.000,0.045,2583,999,3802
$GC,1056,-1.45,-127.1,61.1,-6.1,105,1060,0.00,2.47,0.00,0.000,4,0.000,0.040,2583,2413,3802
$GC,1241,-1.45,-127.1,71.2,-5.5,118,1247,0.00,2.58,0.00,0.000,6,0.000,0.051,2584,994,3802
$GC,1437,-1.45,-127.1,82.2,-6.1,134,1441,0.00,2.50,0.00,0.000,4,0.000,0.040,2583,2415,3802
$STATE,1646,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1646,begin apogee
$GC,1654,-0.42,0.0,95.2,5.9,149,1809,1.12,0.00,150.52,0.647,6,0.100,0.000,2810,2512,3281
$STATE,1813,end apogee,CONTROL_FINISHED_OK
$STATE,1813,begin climb
$GC,1816,1.45,127.1,96.8,0.0,162,1975,1.88,0.00,149.30,0.616,6,0.058,0.000,3220,2512,2762
$GC,2164,1.45,127.1,62.5,11.2,190,2165,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,2512,2761
$GC,2354,1.45,127.1,41.3,11.4,205,2355,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,2513,2761
$GC,2544,1.45,127.1,19.8,11.2,220,2550,0.00,2.60,0.00,0.000,4,0.000,0.074,3220,3890,2761
$GC,2590,1.45,127.1,14.1,12.0,227,2597,0.00,2.45,0.00,0.000,6,0.000,0.037,3220,2490,2761
$GC,2663,1.45,127.1,8.3,7.4,238,2669,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,2490,2761
$GC,2736,1.45,127.1,2.3,8.3,249,2742,0.00,2.47,0.00,0.000,4,0.000,0.051,3220,1110,2760
$STATE,2746,end climb,SURFACE_DEPTH_REACHED
$STATE,2747,begin surface coast
$FINISH,0.3,1.011418
$STATE,2767,end surface coast,CONTROL_FINISHED_OK
$STATE,2768,begin surface
$SM_CCo,2800,120.25,0.574,0,0,1649,400.08
$SM_GC,1.03,0.00,0.00,120.25,0.000,0.000,0.574,134,1003,1649,-12.75,0.08,400.08
$IRIDIUM_FIX,4726.11,-12252.58,051007,080808
$TT8_MAMPS,0.068263
$HUMID,2130
$INTERNAL_PRESSURE,11.4848
$TCM_TEMP,19.70
$XPDR_PINGS,142
$24V_AH,23.9,39.814
$10V_AH,10.0,24.923
$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,32.675,26.825,299.825,120.250,0.000,82.041,74.758,294.064,35.750,0.000,3745.000,28.613,462.997,1466.642,525.467,499.737,676.368,33.347,815.147,0.000,465.598,0.000,2.496
$DEVICE_MAMPS,204.789,93.574,646.581,573.716,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,166.860,0.000,0.000,0.000,0.000,0.000,0.000,3745.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,21.848,51.000
$DATA_FILE_SIZE,6435,254
$CFSIZE,260034560,250376192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,051245,4743.414,-12250.788,11,1.7,11,18.3