version: 66.02
glider: 116
mission: 6
dive: 214
start: 10 4 107 22 57 10
data:
$ID,116
$MISSION,6
$DIVE,214
$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,-33969.863
$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,20
$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,3
$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
$GPS1,223607,4743.564,-12250.815,24,1.9,24,18.3
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-53.8
$GPS2,225557,4743.406,-12250.942,11,1.7,11,18.3
$SPEED_LIMITS,0.137,0.240
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.148,0.186
$KALMAN_X,29689.4,-74.0,-31.0,-26572.3,-88.3
$KALMAN_Y,19790.5,-267.0,-98.4,-10791.0,-161.5
$MHEAD_RNG_PITCHd_Wd,20.2,397,-14.0,-7.917
$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,-1.35,-143.9,0.0,0.0,0,163,0.00,0.00,-125.50,0.000,2,0.000,0.000,134,1008,3370
$GC,167,-1.35,-146.6,2.2,-4.1,21,204,15.40,1.70,-16.85,0.000,4,0.199,0.107,2606,166,3880
$GC,232,-1.35,-146.6,6.2,-7.2,31,237,0.00,1.52,0.00,0.000,6,0.000,0.046,2606,1007,3881
$GC,304,-1.35,-146.6,11.8,-7.9,42,310,0.00,2.47,0.00,0.000,4,0.000,0.040,2606,2417,3881
$GC,482,-1.35,-146.6,22.6,-5.2,65,488,0.00,2.58,0.00,0.000,6,0.000,0.049,2606,995,3881
$GC,679,-1.35,-146.6,34.0,-6.0,81,683,0.00,2.50,0.00,0.000,4,0.000,0.040,2606,2414,3881
$GC,785,-1.35,-146.6,40.3,-5.7,89,789,0.00,2.58,0.00,0.000,6,0.000,0.050,2606,995,3881
$GC,981,-1.35,-146.6,52.0,-6.0,104,985,0.00,2.50,0.00,0.000,4,0.000,0.040,2606,2421,3881
$GC,1159,-1.35,-146.6,62.3,-6.1,117,1165,0.00,2.58,0.00,0.000,6,0.000,0.050,2606,993,3881
$GC,1356,-1.35,-146.6,74.1,-5.9,133,1360,0.00,2.50,0.00,0.000,4,0.000,0.039,2606,2417,3881
$GC,1508,-1.35,-146.6,82.9,-6.2,144,1512,0.00,2.55,0.00,0.000,6,0.000,0.050,2606,1000,3881
$GC,1711,-1.35,-146.6,94.6,-5.6,160,1715,0.00,2.47,0.00,0.000,4,0.000,0.039,2606,2411,3881
$STATE,1722,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1722,begin apogee
$GC,1730,-0.42,0.0,95.2,5.6,160,1908,0.98,0.00,173.40,0.643,6,0.091,0.000,2807,2512,3281
$STATE,1929,end apogee,CONTROL_FINISHED_OK
$STATE,1929,begin climb
$GC,1932,1.35,146.6,97.0,0.0,175,2114,1.77,2.62,171.82,0.610,4,0.058,0.048,3197,1086,2683
$GC,2190,1.35,146.6,73.4,11.2,195,2196,0.00,2.55,0.00,0.000,6,0.000,0.040,3198,2511,2683
$GC,2386,1.35,146.6,52.2,10.6,211,2387,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2511,2683
$GC,2575,1.35,146.6,31.8,10.8,226,2579,0.00,2.55,0.00,0.000,4,0.000,0.048,3199,1094,2682
$GC,2622,1.35,146.6,26.7,11.5,229,2626,0.00,2.53,0.00,0.000,6,0.000,0.040,3198,2512,2682
$GC,2824,1.35,146.6,7.1,8.7,254,2829,0.00,2.58,0.00,0.000,4,0.000,0.071,3197,3889,2682
$STATE,2880,end climb,SURFACE_DEPTH_REACHED
$STATE,2880,begin surface coast
$FINISH,0.4,1.021847
$STATE,2901,end surface coast,CONTROL_FINISHED_OK
$STATE,2901,begin surface
$SM_CCo,2977,111.15,0.572,0,0,1649,400.08
$SM_GC,1.06,0.00,0.00,111.15,0.000,0.000,0.572,136,989,1649,-12.74,-0.31,400.08
$IRIDIUM_FIX,4726.11,-12255.26,051007,020257
$TT8_MAMPS,0.087438
$HUMID,2103
$INTERNAL_PRESSURE,11.4946
$TCM_TEMP,19.80
$XPDR_PINGS,25
$24V_AH,23.9,39.256
$10V_AH,9.6,24.497
$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,31.900,44.225,345.225,111.150,0.000,159.846,287.601,373.938,6.500,0.000,4545.000,11.441,441.169,1664.448,567.721,521.546,1097.214,33.341,900.270,0.000,500.396,0.000,2.497
$DEVICE_MAMPS,199.420,107.380,642.746,572.182,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,174.137,0.000,0.000,0.000,0.000,0.000,0.000,4545.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,20.056,51.000
$DATA_FILE_SIZE,6448,266
$CFSIZE,260034560,250580992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041007,234955,4743.529,-12250.747,33,1.4,38,18.3