version: 66.02
glider: 116
mission: 6
dive: 223
start: 10 5 107 8 36 24
data:
$ID,116
$MISSION,6
$DIVE,223
$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,647.83728
$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,-34179.117
$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,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
$GPS1,081556,4743.687,-12250.883,9,1.8,15,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-66.0
$GPS2,083515,4743.590,-12250.922,12,1.7,12,18.3
$SPEED_LIMITS,0.193,0.216
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.180,-0.069
$KALMAN_X,28751.5,-173.7,51.1,-25592.8,-17.4
$KALMAN_Y,17807.3,-373.5,59.7,-8529.3,54.8
$MHEAD_RNG_PITCHd_Wd,92.8,251,-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,30,end surface,CONTROL_FINISHED_OK
$STATE,30,begin dive
$GC,34,-1.42,-98.7,0.0,0.0,0,115,0.00,0.00,-78.47,0.000,2,0.000,0.000,135,1007,3315
$GC,119,-1.45,-127.1,2.3,-3.1,13,157,15.65,1.70,-16.42,0.000,4,0.209,0.109,2585,168,3801
$GC,250,-1.45,-127.1,11.2,-8.5,33,256,0.00,1.50,0.00,0.000,6,0.000,0.044,2584,1001,3802
$GC,323,-1.45,-127.1,16.7,-7.5,44,329,0.00,1.62,0.00,0.000,4,0.000,0.087,2585,162,3802
$GC,382,-1.45,-127.1,20.8,-6.4,52,388,0.00,1.50,0.00,0.000,6,0.000,0.044,2584,996,3802
$GC,579,-1.45,-127.1,31.9,-5.7,68,583,0.00,2.47,0.00,0.000,4,0.000,0.040,2584,2411,3802
$GC,829,-1.45,-127.1,45.4,-5.6,86,835,0.00,2.55,0.00,0.000,6,0.000,0.050,2584,1003,3802
$GC,1025,-1.45,-127.1,57.2,-6.0,102,1030,0.00,2.47,0.00,0.000,4,0.000,0.039,2584,2412,3803
$GC,1237,-1.45,-127.1,69.3,-5.3,117,1243,0.00,2.55,0.00,0.000,6,0.000,0.051,2584,1001,3803
$GC,1433,-1.45,-127.1,81.6,-6.6,133,1437,0.00,2.47,0.00,0.000,4,0.000,0.040,2584,2411,3802
$GC,1625,-1.45,-127.1,92.8,-5.4,147,1630,0.00,2.55,0.00,0.000,6,0.000,0.051,2584,1001,3803
$STATE,1667,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1667,begin apogee
$GC,1677,-0.42,0.0,95.3,5.6,150,1833,1.10,0.00,151.40,0.644,6,0.100,0.000,2807,2512,3281
$STATE,1836,end apogee,CONTROL_FINISHED_OK
$STATE,1836,begin climb
$GC,1840,1.45,127.1,96.9,0.0,163,2001,1.90,2.67,149.48,0.614,4,0.059,0.048,3222,1087,2762
$GC,2020,1.45,127.1,81.0,11.9,177,2027,0.00,2.55,0.00,0.000,6,0.000,0.040,3222,2509,2762
$GC,2217,1.45,127.1,58.3,11.6,193,2221,0.00,2.60,0.00,0.000,4,0.000,0.073,3222,3886,2761
$GC,2248,1.45,127.1,54.1,13.1,195,2255,0.00,2.45,0.00,0.000,6,0.000,0.036,3222,2490,2761
$GC,2445,1.45,127.1,32.0,11.2,211,2446,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2489,2761
$GC,2638,1.45,127.1,11.1,8.8,232,2644,0.00,2.47,0.00,0.000,4,0.000,0.051,3222,1107,2761
$GC,2678,1.45,127.1,7.5,8.7,238,2684,0.00,2.50,0.00,0.000,6,0.000,0.040,3222,2513,2761
$STATE,2741,end climb,SURFACE_DEPTH_REACHED
$STATE,2742,begin surface coast
$FINISH,0.3,1.014748
$STATE,2765,end surface coast,CONTROL_FINISHED_OK
$STATE,2765,begin surface
$SM_CCo,2797,233.60,0.560,0,0,640,647.84
$SM_GC,1.00,0.00,0.00,233.60,0.000,0.000,0.560,135,1008,640,-12.74,0.23,647.84
$IRIDIUM_FIX,4729.30,-12249.89,051007,121209
$TT8_MAMPS,0.066729
$HUMID,2099
$INTERNAL_PRESSURE,11.3969
$TCM_TEMP,19.70
$XPDR_PINGS,151
$24V_AH,23.9,40.260
$10V_AH,10.0,25.250
$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,32.775,42.150,300.875,233.600,0.000,190.737,403.401,134.646,38.000,0.000,4198.000,12.591,463.923,1632.626,639.311,484.181,996.191,33.343,940.206,0.000,474.974,0.000,2.496
$DEVICE_MAMPS,209.391,108.914,643.513,559.910,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,164.930,0.000,0.000,0.000,0.000,0.000,0.000,4198.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,21.848,51.000
$DATA_FILE_SIZE,6477,251
$CFSIZE,260034560,250241024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,092805,4743.480,-12250.537,10,2.4,30,18.3