version: 66.02
glider: 116
mission: 6
dive: 216
start: 10 5 107 1 9 24
data:
$ID,116
$MISSION,6
$DIVE,216
$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,-34001.566
$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,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
$GPS1,004844,4743.603,-12250.616,10,1.3,10,18.3
$_CALLS,3
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-64.3
$GPS2,010815,4743.429,-12250.760,12,1.6,12,18.3
$SPEED_LIMITS,0.193,0.216
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.063,0.183
$KALMAN_X,29395.2,-83.0,-112.2,-25963.2,-100.3
$KALMAN_Y,19113.9,-262.6,-222.9,-9951.5,-171.3
$MHEAD_RNG_PITCHd_Wd,0.7,252,-15.6,-7.037
$D_GRID,167
$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,29,end surface,CONTROL_FINISHED_OK
$STATE,29,begin dive
$GC,33,-1.42,-98.7,0.0,0.0,0,113,0.00,0.00,-77.88,0.000,2,0.000,0.000,135,1009,3287
$GC,118,-1.45,-127.1,2.2,-3.0,13,161,15.35,2.55,-17.83,0.000,4,0.201,0.059,2584,2419,3802
$GC,228,-1.45,-127.1,8.3,-6.4,30,235,0.00,2.58,0.00,0.000,6,0.000,0.048,2585,998,3803
$GC,302,-1.45,-127.1,13.8,-7.5,41,308,0.00,2.50,0.00,0.000,4,0.000,0.039,2584,2418,3803
$GC,448,-1.45,-127.1,22.0,-5.3,61,452,0.00,2.58,0.00,0.000,6,0.000,0.048,2585,995,3803
$GC,644,-1.45,-127.1,33.2,-5.7,76,649,0.00,2.50,0.00,0.000,4,0.000,0.039,2584,2417,3803
$GC,788,-1.45,-127.1,41.0,-5.8,86,793,0.00,2.58,0.00,0.000,6,0.000,0.049,2584,993,3803
$GC,985,-1.45,-127.1,52.9,-6.2,101,989,0.00,2.50,0.00,0.000,4,0.000,0.039,2584,2416,3803
$GC,1106,-1.45,-127.1,59.9,-5.7,109,1112,0.00,2.55,0.00,0.000,6,0.000,0.049,2584,1000,3803
$GC,1302,-1.45,-127.1,71.9,-6.0,125,1307,0.00,2.50,0.00,0.000,4,0.000,0.039,2584,2422,3803
$GC,1500,-1.45,-127.1,82.6,-5.0,139,1506,0.00,2.58,0.00,0.000,6,0.000,0.050,2584,999,3803
$GC,1696,-1.45,-127.1,93.2,-5.6,155,1700,0.00,2.50,0.00,0.000,4,0.000,0.040,2584,2420,3804
$STATE,1726,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1726,begin apogee
$GC,1734,-0.42,0.0,95.0,5.6,157,1889,1.10,0.00,150.70,0.646,6,0.094,0.000,2809,2518,3282
$STATE,1893,end apogee,CONTROL_FINISHED_OK
$STATE,1894,begin climb
$GC,1897,1.45,127.1,95.6,0.0,170,2058,1.88,2.62,148.98,0.614,4,0.058,0.048,3220,1090,2761
$GC,2143,1.45,127.1,71.2,12.0,189,2150,0.00,2.55,0.00,0.000,6,0.000,0.040,3220,2516,2761
$GC,2340,1.45,127.1,48.3,11.6,205,2341,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,2516,2761
$GC,2534,1.45,127.1,26.7,11.2,220,2539,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,2516,2760
$GC,2736,1.45,127.1,5.2,8.7,247,2742,0.00,2.58,0.00,0.000,4,0.000,0.071,3220,3890,2760
$STATE,2775,end climb,SURFACE_DEPTH_REACHED
$STATE,2775,begin surface coast
$FINISH,0.3,1.002384
$STATE,2794,end surface coast,CONTROL_FINISHED_OK
$STATE,2794,begin surface
$SM_CCo,2831,120.03,0.570,0,0,1649,400.08
$SM_GC,1.05,0.00,0.00,120.03,0.000,0.000,0.570,133,991,1649,-12.75,-0.25,400.08
$IRIDIUM_FIX,4729.30,-12248.15,051007,040436
$TT8_MAMPS,0.067496
$HUMID,2127
$INTERNAL_PRESSURE,11.4848
$TCM_TEMP,19.70
$XPDR_PINGS,94
$24V_AH,23.9,39.473
$10V_AH,10.1,24.672
$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,32.125,41.100,299.675,120.025,0.000,119.000,260.476,403.272,23.750,0.000,4240.000,12.289,471.833,1539.598,512.539,524.214,1083.171,33.347,823.393,0.000,480.398,0.000,2.496
$DEVICE_MAMPS,200.954,70.564,645.814,569.881,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,168.425,0.000,0.000,0.000,0.000,0.000,1253.150,4240.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,21.848,51.000
$DATA_FILE_SIZE,6447,256
$CFSIZE,260034560,250466304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,015947,4743.583,-12250.646,13,2.6,32,18.3