version: 66.02
glider: 116
mission: 6
dive: 228
start: 10 5 107 14 2 18
data:
$ID,116
$MISSION,6
$DIVE,228
$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,-34303.082
$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,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
$GPS1,134744,4743.685,-12251.025,10,2.0,28,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-65.8
$GPS2,140107,4743.683,-12251.008,34,1.5,37,18.3
$SPEED_LIMITS,0.193,0.216
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.158,-0.112
$KALMAN_X,28933.3,-39.3,21.3,-25991.1,43.8
$KALMAN_Y,17496.5,-101.8,18.3,-8275.2,1.1
$MHEAD_RNG_PITCHd_Wd,107.0,416,-15.6,-7.037
$D_GRID,164
$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,-1.42,-98.7,0.0,0.0,0,111,0.00,0.00,-77.85,0.000,2,0.000,0.000,135,1010,3309
$GC,115,-1.45,-127.1,2.3,-3.1,13,152,15.57,1.70,-16.52,0.000,4,0.208,0.108,2582,167,3801
$GC,405,-1.45,-127.1,22.3,-6.6,55,409,0.00,1.50,0.00,0.000,6,0.000,0.045,2581,1000,3802
$GC,608,-1.45,-127.1,34.4,-6.4,71,612,0.00,2.47,0.00,0.000,4,0.000,0.039,2581,2412,3803
$GC,866,-1.45,-127.1,49.9,-5.4,90,870,0.00,2.55,0.00,0.000,6,0.000,0.048,2582,1002,3803
$GC,1069,-1.45,-127.1,61.2,-5.5,106,1073,0.00,2.50,0.00,0.000,4,0.000,0.039,2582,2420,3803
$GC,1240,-1.45,-127.1,70.9,-5.9,118,1246,0.00,2.58,0.00,0.000,6,0.000,0.048,2581,1000,3803
$GC,1437,-1.45,-127.1,81.8,-5.8,134,1441,0.00,2.50,0.00,0.000,4,0.000,0.038,2581,2419,3803
$GC,1650,-1.45,-127.1,93.7,-5.2,149,1656,0.00,2.58,0.00,0.000,6,0.000,0.049,2582,995,3803
$STATE,1678,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1678,begin apogee
$GC,1689,-0.42,0.0,95.7,6.2,152,1844,1.15,0.00,151.20,0.644,6,0.099,0.000,2805,2517,3281
$STATE,1848,end apogee,CONTROL_FINISHED_OK
$STATE,1848,begin climb
$GC,1851,1.45,127.1,97.6,0.0,165,2012,1.88,2.60,149.32,0.616,4,0.058,0.047,3222,1093,2761
$GC,2032,1.45,127.1,82.1,11.2,179,2038,0.00,2.55,0.00,0.000,6,0.000,0.039,3222,2515,2761
$GC,2228,1.45,127.1,59.2,11.7,195,2229,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2515,2761
$GC,2421,1.45,127.1,37.2,11.6,210,2422,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2515,2761
$GC,2607,1.45,127.1,16.7,10.6,227,2613,0.00,2.58,0.00,0.000,4,0.000,0.070,3222,3891,2761
$GC,2674,1.45,127.1,9.0,10.9,237,2680,0.00,2.45,0.00,0.000,6,0.000,0.035,3222,2486,2761
$GC,2747,1.45,127.1,2.8,8.4,248,2752,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2485,2761
$STATE,2756,end climb,SURFACE_DEPTH_REACHED
$STATE,2757,begin surface coast
$FINISH,0.5,1.002218
$STATE,2778,end surface coast,CONTROL_FINISHED_OK
$STATE,2778,begin surface
$SM_CCo,2813,119.93,0.571,0,0,1649,400.08
$SM_GC,1.15,0.00,0.00,119.93,0.000,0.000,0.571,136,1012,1649,-12.74,0.34,400.08
$IRIDIUM_FIX,4726.11,-12250.84,051007,171708
$TT8_MAMPS,0.070564
$HUMID,2144
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,19.70
$XPDR_PINGS,150
$24V_AH,23.9,40.849
$10V_AH,10.0,25.671
$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,32.775,34.000,300.525,119.925,0.000,119.682,194.818,187.432,37.750,41.500,3828.500,37.912,465.922,1539.574,520.922,513.656,723.942,33.336,810.213,0.000,468.858,0.000,4.975
$DEVICE_MAMPS,207.857,108.147,643.513,570.648,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,166.609,0.000,0.000,0.000,0.000,0.000,0.000,3870.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,21.848,51.000
$DATA_FILE_SIZE,6462,253
$CFSIZE,260034560,250089472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,145223,4743.582,-12250.646,13,2.2,32,18.3