version: 66.02
glider: 116
mission: 6
dive: 167
start: 10 3 107 4 4 43
data:
$ID,116
$MISSION,6
$DIVE,167
$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,-32905.445
$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,15
$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
$GPS1,035651,4740.080,-12252.447,11,1.8,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-65.4
$GPS2,040332,4740.109,-12252.477,45,1.1,45,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,11_XS
$TGT_LATLONG,4740.927,-12251.586
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.181,0.163
$KALMAN_X,28126.6,353.7,59.4,-27447.1,-223.2
$KALMAN_Y,22953.0,400.3,143.4,-20975.2,-102.6
$MHEAD_RNG_PITCHd_Wd,29.7,1877,-14.6,-8.333
$D_GRID,121
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-1.40,-146.6,0.0,0.0,0,115,0.00,0.00,-84.03,0.000,2,0.000,0.000,134,1010,3430
$GC,120,-1.40,-146.6,2.3,-5.7,14,157,15.90,1.70,-12.65,0.000,4,0.211,0.113,2595,170,3880
$GC,342,-1.40,-146.6,19.8,-6.4,48,348,0.00,1.50,0.00,0.000,6,0.000,0.047,2595,1000,3881
$GC,412,-1.40,-146.6,24.5,-6.8,54,416,0.00,2.50,0.00,0.000,4,0.000,0.041,2595,2418,3881
$GC,596,-1.40,-146.6,37.4,-6.5,67,603,0.00,2.58,0.00,0.000,6,0.000,0.051,2595,1001,3881
$GC,793,-1.40,-146.6,49.0,-5.7,83,797,0.00,2.53,0.00,0.000,4,0.000,0.041,2594,2413,3881
$GC,958,-1.40,-146.6,58.6,-5.7,95,963,0.00,2.58,0.00,0.000,6,0.000,0.052,2595,999,3881
$GC,1154,-1.40,-146.6,70.0,-5.6,110,1159,0.00,2.53,0.00,0.000,4,0.000,0.041,2595,2414,3881
$GC,1283,-1.40,-146.6,76.9,-5.1,119,1287,0.00,2.58,0.00,0.000,6,0.000,0.051,2595,993,3881
$GC,1485,-1.40,-146.6,88.8,-5.7,135,1490,0.00,2.53,0.00,0.000,4,0.000,0.041,2595,2420,3882
$GC,1564,-1.40,-146.6,93.0,-5.9,140,1570,0.00,2.58,0.00,0.000,6,0.000,0.051,2595,999,3881
$STATE,1707,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1710,begin apogee
$GC,1719,-0.42,0.0,100.6,5.4,152,1899,1.05,0.00,173.38,0.644,6,0.094,0.000,2808,2512,3281
$STATE,1900,end apogee,CONTROL_FINISHED_OK
$STATE,1900,begin climb
$GC,1903,1.40,146.6,99.7,0.0,167,2086,1.83,2.62,171.60,0.612,4,0.061,0.051,3206,1093,2683
$GC,2179,1.40,146.6,71.6,11.5,189,2183,0.00,2.55,0.00,0.000,6,0.000,0.041,3206,2514,2683
$GC,2376,1.40,146.6,49.5,11.0,204,2377,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2513,2683
$GC,2566,1.40,146.6,28.6,10.4,219,2570,0.00,2.60,0.00,0.000,4,0.000,0.074,3206,3890,2682
$GC,2698,1.40,146.6,12.7,10.8,233,2704,0.00,2.45,0.00,0.000,6,0.000,0.038,3206,2491,2682
$GC,2771,1.45,185.6,6.8,6.8,244,2808,0.00,2.72,32.25,0.606,4,0.000,0.067,3206,3890,2524
$STATE,2832,end climb,SURFACE_DEPTH_REACHED
$STATE,2832,begin surface coast
$FINISH,1.1,1.021977
$STATE,2839,end surface coast,CONTROL_FINISHED_OK
$STATE,2840,begin surface
$SM_CCo,2873,93.53,0.569,0,0,1649,400.08
$SM_GC,0.92,0.00,0.00,93.53,0.000,0.000,0.569,134,1000,1649,-12.74,0.00,400.08
$IRIDIUM_FIX,4719.74,-12251.79,031007,070723
$TT8_MAMPS,0.066729
$HUMID,2141
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,19.60
$XPDR_PINGS,168
$24V_AH,23.9,34.147
$10V_AH,10.1,21.040
$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,32.625,44.600,377.225,93.525,0.000,40.617,32.425,153.442,42.500,29.050,3478.950,47.417,459.379,1414.973,542.389,551.199,428.806,33.332,871.563,0.000,496.936,0.000,4.056
$DEVICE_MAMPS,210.925,112.749,644.280,569.114,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,166.996,0.000,0.000,0.000,0.000,0.000,0.000,3508.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6451,255
$CFSIZE,260034560,252051456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031007,045502,4740.315,-12252.203,9,1.3,14,18.3