version: 66.02
glider: 116
mission: 6
dive: 226
start: 10 5 107 11 41 23
data:
$ID,116
$MISSION,6
$DIVE,226
$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,-34226.371
$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,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
$GPS1,113251,4743.384,-12250.504,13,1.9,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-65.8
$GPS2,114014,4743.367,-12250.511,10,1.5,15,18.3
$SPEED_LIMITS,0.193,0.216
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.119,0.160
$KALMAN_X,28820.0,-129.8,25.2,-25170.6,55.7
$KALMAN_Y,17475.0,-231.9,137.8,-8824.3,-68.9
$MHEAD_RNG_PITCHd_Wd,305.0,450,-14.9,-7.037
$D_GRID,166
$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,-1.37,-105.8,0.0,0.0,0,114,0.00,0.00,-78.18,0.000,2,0.000,0.000,134,1012,3313
$GC,119,-1.40,-127.1,2.4,-3.2,13,156,15.73,1.73,-16.27,0.000,4,0.207,0.110,2596,162,3800
$GC,203,-1.40,-127.1,7.7,-8.2,26,209,0.00,1.52,0.00,0.000,6,0.000,0.046,2595,1003,3801
$GC,276,-1.40,-127.1,13.8,-7.9,37,282,0.00,2.50,0.00,0.000,4,0.000,0.041,2595,2423,3801
$GC,382,-1.40,-127.1,19.2,-5.6,53,388,0.00,2.60,0.00,0.000,6,0.000,0.049,2595,993,3802
$GC,453,-1.40,-127.1,23.3,-6.0,60,454,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,994,3802
$GC,645,-1.40,-127.1,33.6,-5.3,75,649,0.00,2.53,0.00,0.000,4,0.000,0.041,2596,2422,3802
$GC,766,-1.40,-127.1,39.8,-4.9,83,772,0.00,2.58,0.00,0.000,6,0.000,0.048,2596,997,3802
$GC,962,-1.40,-127.1,50.1,-5.3,99,967,0.00,2.50,0.00,0.000,4,0.000,0.039,2597,2416,3802
$GC,1160,-1.40,-127.1,60.2,-5.0,113,1166,0.00,2.58,0.00,0.000,6,0.000,0.050,2595,992,3802
$GC,1356,-1.40,-127.1,70.5,-5.3,129,1360,0.00,2.53,0.00,0.000,4,0.000,0.040,2595,2422,3802
$GC,1554,-1.40,-127.1,80.9,-5.6,143,1560,0.00,2.58,0.00,0.000,6,0.000,0.049,2596,1001,3802
$GC,1751,-1.40,-127.1,92.1,-5.4,159,1755,0.00,2.50,0.00,0.000,4,0.000,0.039,2596,2416,3803
$STATE,1807,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1807,begin apogee
$GC,1815,-0.42,0.0,95.3,5.5,163,1970,1.05,0.00,150.75,0.644,6,0.097,0.000,2809,2512,3281
$STATE,1974,end apogee,CONTROL_FINISHED_OK
$STATE,1974,begin climb
$GC,1978,1.40,127.1,96.6,0.0,176,2138,1.83,2.60,148.65,0.614,4,0.059,0.048,3213,1087,2761
$GC,2207,1.40,127.1,76.1,11.6,194,2211,0.00,2.55,0.00,0.000,6,0.000,0.040,3213,2508,2761
$GC,2403,1.40,127.1,53.5,11.6,209,2407,0.00,2.60,0.00,0.000,4,0.000,0.072,3213,3888,2761
$GC,2441,1.40,127.1,48.6,12.8,211,2448,0.00,2.45,0.00,0.000,6,0.000,0.036,3213,2493,2761
$GC,2638,1.40,127.1,26.1,11.5,227,2639,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2492,2761
$GC,2833,1.40,127.1,6.7,7.9,252,2838,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2492,2761
$STATE,2895,end climb,SURFACE_DEPTH_REACHED
$STATE,2895,begin surface coast
$FINISH,0.4,1.002051
$STATE,2926,end surface coast,CONTROL_FINISHED_OK
$STATE,2926,begin surface
$SM_CCo,2958,119.97,0.570,0,0,1649,400.08
$SM_GC,1.13,0.00,0.00,119.97,0.000,0.000,0.570,130,1012,1649,-12.77,0.37,400.08
$IRIDIUM_FIX,4729.30,-12252.58,051007,141401
$TT8_MAMPS,0.067496
$HUMID,2134
$INTERNAL_PRESSURE,11.4946
$TCM_TEMP,19.60
$XPDR_PINGS,166
$24V_AH,23.3,40.593
$10V_AH,10.0,25.490
$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,32.675,39.225,299.400,119.975,0.000,39.639,50.447,195.366,41.750,41.510,3599.490,15.713,493.144,1500.022,511.180,523.855,519.586,33.338,832.465,0.000,501.728,0.000,2.496
$DEVICE_MAMPS,207.090,109.681,644.280,569.881,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,175.248,0.000,0.000,0.000,0.000,0.000,0.000,3641.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,21.848,51.000
$DATA_FILE_SIZE,6463,266
$CFSIZE,260034560,250155008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,123353,4743.584,-12250.702,13,2.7,32,18.3