version: 66.02
glider: 116
mission: 6
dive: 163
start: 10 2 107 23 59 11
data:
$ID,116
$MISSION,6
$DIVE,163
$D_SURF,2
$D_FLARE,2
$D_TGT,100
$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,40
$T_MISSION,70
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$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,-32793.566
$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,12
$R_STBD_OVSHOOT,18
$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
$GPS1,235039,4739.116,-12253.082,11,1.9,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-63.7
$GPS2,235802,4739.197,-12252.946,14,1.6,31,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.143,-0.198
$KALMAN_X,27656.6,584.6,290.1,-28029.5,45.2
$KALMAN_Y,21944.5,549.1,405.2,-22072.9,100.1
$MHEAD_RNG_PITCHd_Wd,197.4,778,-14.6,-8.333
$D_GRID,127
$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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,31,-1.40,-146.6,0.0,0.0,0,112,0.00,0.00,-78.30,0.000,2,0.000,0.000,132,1011,3289
$GC,116,-1.40,-146.6,2.0,-3.9,13,159,16.05,1.70,-19.65,0.000,4,0.215,0.114,2597,156,3880
$GC,410,-1.40,-146.6,23.7,-6.6,54,417,0.00,1.58,0.00,0.000,6,0.000,0.046,2597,1001,3882
$GC,606,-1.40,-146.6,37.6,-7.1,70,610,0.00,2.50,0.00,0.000,4,0.000,0.043,2597,2414,3882
$GC,735,-1.40,-146.6,46.1,-6.5,79,739,0.00,2.60,0.00,0.000,6,0.000,0.052,2597,991,3881
$GC,937,-1.40,-146.6,59.5,-6.0,95,941,0.00,2.53,0.00,0.000,4,0.000,0.041,2597,2410,3882
$GC,1169,-1.40,-146.6,72.3,-5.1,112,1173,0.00,2.60,0.00,0.000,6,0.000,0.053,2597,994,3882
$GC,1367,-1.40,-146.6,83.6,-5.7,127,1371,0.00,2.53,0.00,0.000,4,0.000,0.041,2597,2416,3882
$GC,1564,-1.40,-146.6,96.5,-6.0,141,1570,0.00,2.58,0.00,0.000,6,0.000,0.052,2597,999,3882
$STATE,1632,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1632,begin apogee
$GC,1641,-0.42,0.0,100.6,6.0,147,1821,1.05,0.00,173.50,0.649,6,0.099,0.000,2808,2515,3282
$STATE,1823,end apogee,CONTROL_FINISHED_OK
$STATE,1823,begin climb
$GC,1826,1.40,146.6,103.4,0.0,162,2010,1.85,2.65,171.82,0.616,4,0.060,0.051,3210,1076,2683
$GC,2043,1.40,146.6,83.4,12.1,179,2049,0.00,2.60,0.00,0.000,6,0.000,0.041,3210,2521,2683
$GC,2239,1.40,146.6,61.5,11.1,195,2243,0.00,2.60,0.00,0.000,4,0.000,0.075,3210,3894,2682
$GC,2357,1.40,146.6,47.0,12.2,203,2364,0.00,2.47,0.00,0.000,6,0.000,0.038,3210,2494,2683
$GC,2553,1.40,146.6,25.1,11.1,219,2554,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2493,2682
$GC,2749,1.40,146.6,3.4,9.1,245,2755,0.00,2.62,0.00,0.000,4,0.000,0.067,3209,3890,2682
$STATE,2768,end climb,SURFACE_DEPTH_REACHED
$STATE,2768,begin surface coast
$FINISH,0.0,1.021436
$STATE,2787,end surface coast,CONTROL_FINISHED_OK
$STATE,2787,begin surface
$SM_CCo,2823,111.38,0.574,0,0,1650,400.08
$SM_GC,0.92,0.00,0.00,111.38,0.000,0.000,0.574,135,1011,1650,-12.74,0.31,400.08
$IRIDIUM_FIX,4719.74,-12251.79,031007,020228
$TT8_MAMPS,0.067496
$HUMID,2141
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,19.70
$XPDR_PINGS,164
$24V_AH,23.4,33.676
$10V_AH,10.0,20.723
$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,32.900,39.600,345.325,111.375,0.000,39.177,37.736,198.346,41.500,45.650,3448.350,31.970,458.338,1396.263,547.206,525.899,476.455,33.342,855.806,0.000,484.788,0.000,4.057
$DEVICE_MAMPS,214.760,113.516,648.882,573.716,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,164.803,0.000,0.000,0.000,0.000,0.000,0.000,3494.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6424,251
$CFSIZE,260034560,252190720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031007,004907,4739.084,-12253.021,14,1.6,24,18.3