version: 66.02
glider: 116
mission: 6
dive: 173
start: 10 3 107 9 35 28
data:
$ID,116
$MISSION,6
$DIVE,173
$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,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,-33048.645
$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
$GPS1,092729,4740.939,-12251.591,12,2.7,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-66.1
$GPS2,093417,4740.901,-12251.585,12,3.1,31,18.3
$SPEED_LIMITS,0.137,0.240
$TGT_NAME,10_XC
$TGT_LATLONG,4741.454,-12251.414
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.050,0.234
$KALMAN_X,29231.1,-1.9,4.9,-27028.9,207.4
$KALMAN_Y,22970.9,29.4,-185.4,-18825.2,-143.9
$MHEAD_RNG_PITCHd_Wd,329.6,1046,-13.9,-7.917
$D_GRID,98
$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,-1.34,-146.6,0.0,0.0,0,111,0.00,0.00,-78.05,0.000,2,0.000,0.000,134,1006,3307
$GC,115,-1.34,-146.6,2.2,-4.1,13,158,15.73,2.53,-19.48,0.000,4,0.206,0.053,2611,2422,3880
$GC,410,-1.34,-146.6,19.4,-5.6,58,416,0.00,2.58,0.00,0.000,6,0.000,0.051,2611,1001,3881
$GC,481,-1.34,-146.6,23.4,-6.0,65,485,0.00,2.50,0.00,0.000,4,0.000,0.041,2611,2416,3881
$GC,594,-1.34,-146.6,30.6,-5.7,73,598,0.00,2.58,0.00,0.000,6,0.000,0.051,2611,1002,3881
$GC,790,-1.34,-146.6,41.4,-5.4,88,794,0.00,2.50,0.00,0.000,4,0.000,0.040,2611,2416,3881
$GC,903,-1.34,-146.6,47.5,-5.5,96,907,0.00,2.60,0.00,0.000,6,0.000,0.051,2610,992,3881
$GC,1099,-1.34,-146.6,59.1,-5.8,111,1103,0.00,2.53,0.00,0.000,4,0.000,0.041,2611,2419,3881
$GC,1330,-1.34,-146.6,71.4,-4.1,128,1334,0.00,2.60,0.00,0.000,6,0.000,0.051,2611,992,3881
$GC,1526,-1.34,-146.6,82.5,-6.3,143,1530,0.00,2.53,0.00,0.000,4,0.000,0.041,2611,2421,3881
$STATE,1728,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1729,begin apogee
$GC,1736,-0.42,0.0,95.2,6.5,158,1915,1.00,0.00,173.12,0.644,6,0.092,0.000,2812,2517,3281
$STATE,1917,end apogee,CONTROL_FINISHED_OK
$STATE,1917,begin climb
$GC,1920,1.34,146.6,97.1,0.0,173,2101,1.73,2.67,171.38,0.612,4,0.058,0.049,3196,1089,2683
$GC,2135,1.34,146.6,80.1,11.3,191,2140,0.00,2.55,0.00,0.000,6,0.000,0.040,3196,2511,2682
$GC,2331,1.34,146.6,58.8,11.1,206,2336,0.00,2.60,0.00,0.000,4,0.000,0.073,3196,3888,2682
$GC,2370,1.34,146.6,54.1,11.9,208,2377,0.00,2.45,0.00,0.000,6,0.000,0.037,3196,2494,2682
$GC,2566,1.34,146.6,32.5,10.8,224,2570,0.00,2.50,0.00,0.000,4,0.000,0.051,3196,1101,2682
$GC,2599,1.34,146.6,28.9,11.2,226,2604,0.00,2.53,0.00,0.000,6,0.000,0.041,3196,2518,2682
$GC,2800,1.34,146.6,8.7,9.0,249,2806,0.00,2.58,0.00,0.000,4,0.000,0.071,3196,3893,2682
$STATE,2870,end climb,SURFACE_DEPTH_REACHED
$STATE,2870,begin surface coast
$FINISH,0.2,1.021801
$STATE,2891,end surface coast,CONTROL_FINISHED_OK
$STATE,2891,begin surface
$SM_CCo,2926,111.97,0.577,0,0,1649,400.08
$SM_GC,0.90,0.00,0.00,111.97,0.000,0.000,0.577,134,1010,1649,-12.75,0.28,400.08
$IRIDIUM_FIX,4722.92,-12251.79,031007,121212
$TT8_MAMPS,0.069797
$HUMID,2148
$INTERNAL_PRESSURE,11.4848
$TCM_TEMP,19.60
$XPDR_PINGS,171
$24V_AH,23.4,34.804
$10V_AH,10.1,21.469
$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,32.550,46.225,344.500,111.975,0.000,38.158,35.304,168.637,43.000,29.050,3553.950,32.344,482.896,1455.078,531.569,555.379,450.702,33.336,864.184,0.000,514.625,0.000,2.496
$DEVICE_MAMPS,205.556,72.865,643.513,576.784,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,173.199,0.000,0.000,0.000,0.000,0.000,0.000,3583.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6451,263
$CFSIZE,260034560,251867136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031007,102737,4741.099,-12251.581,42,1.0,53,18.3