version: 66.02
glider: 116
mission: 6
dive: 67
start: 9 28 107 22 33 6
data:
$ID,116
$MISSION,6
$DIVE,67
$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,-30614.277
$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,13
$R_STBD_OVSHOOT,22
$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
$GPS1,222132,4738.198,-12253.771,13,1.4,30,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-63.3
$GPS2,223156,4738.168,-12253.732,12,1.7,17,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,S2
$TGT_LATLONG,4737.767,-12254.100
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.068,-0.234
$KALMAN_X,2517.2,243.4,322.9,-3556.1,-233.1
$KALMAN_Y,1016.4,188.9,284.1,-2560.7,-79.0
$MHEAD_RNG_PITCHd_Wd,177.9,873,-14.6,-8.333
$D_GRID,147
$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,-1.40,-146.6,0.0,0.0,0,104,0.00,0.00,-72.47,0.000,2,0.000,0.000,138,995,3275
$GC,108,-1.40,-146.6,2.3,-5.6,12,146,16.48,2.58,-15.62,0.000,4,0.225,0.051,2595,2416,3880
$GC,398,-1.40,-146.6,22.4,-6.7,54,403,0.00,2.58,0.00,0.000,6,0.000,0.049,2595,995,3882
$GC,594,-1.40,-146.6,35.7,-7.2,69,598,0.00,2.50,0.00,0.000,4,0.000,0.040,2595,2413,3882
$GC,852,-1.40,-146.6,54.6,-7.5,88,856,0.00,2.58,0.00,0.000,6,0.000,0.052,2595,999,3882
$GC,1048,-1.40,-146.6,68.7,-6.9,103,1052,0.00,2.50,0.00,0.000,4,0.000,0.041,2595,2412,3882
$GC,1306,-1.40,-146.6,85.2,-5.8,122,1310,0.00,2.58,0.00,0.000,6,0.000,0.052,2595,997,3882
$GC,1502,-1.40,-146.6,98.4,-6.9,137,1506,0.00,2.50,0.00,0.000,4,0.000,0.041,2594,2412,3882
$STATE,1527,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1527,begin apogee
$GC,1533,-0.42,0.0,100.1,6.6,138,1712,1.05,0.00,172.30,0.640,6,0.096,0.000,2809,2509,3280
$STATE,1713,end apogee,CONTROL_FINISHED_OK
$STATE,1713,begin climb
$GC,1716,1.40,146.6,102.8,0.0,153,1898,1.83,2.65,169.75,0.613,4,0.058,0.050,3209,1094,2683
$GC,2004,1.40,146.6,76.8,11.4,176,2008,0.00,2.53,0.00,0.000,6,0.000,0.041,3208,2507,2683
$GC,2200,1.40,146.6,55.3,11.4,191,2201,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2507,2683
$GC,2391,1.40,146.6,34.5,11.2,206,2392,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2507,2682
$GC,2581,1.40,146.6,14.3,10.6,225,2586,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2507,2682
$GC,2652,1.40,146.6,7.3,9.7,236,2658,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2507,2682
$GC,2725,1.51,233.8,2.2,5.0,247,2732,0.12,0.00,5.00,0.673,2,0.067,0.000,3237,2507,2654
$STATE,2733,end climb,SURFACE_DEPTH_REACHED
$STATE,2733,begin surface coast
$FINISH,0.3,1.020399
$STATE,2771,end surface coast,CONTROL_FINISHED_OK
$STATE,2771,begin surface
$SM_CCo,2804,110.45,0.578,0,0,1650,400.08
$SM_GC,0.76,0.00,0.00,110.45,0.000,0.000,0.578,135,986,1650,-12.74,-0.40,400.08
$IRIDIUM_FIX,4719.74,-12254.47,290907,020203
$TT8_MAMPS,0.066729
$HUMID,2199
$INTERNAL_PRESSURE,11.5043
$TCM_TEMP,19.60
$XPDR_PINGS,143
$24V_AH,23.9,22.723
$10V_AH,10.1,13.275
$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,33.650,25.975,347.050,110.450,0.000,75.693,69.438,267.276,36.250,20.750,3648.250,17.361,463.919,1472.761,516.502,508.258,606.552,33.331,828.097,0.000,488.481,0.000,4.058
$DEVICE_MAMPS,224.731,71.331,672.659,577.551,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,167.177,0.000,0.000,0.000,0.000,0.000,0.000,3669.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6422,254
$CFSIZE,260034560,255270912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,232253,4737.991,-12254.126,15,2.6,34,18.3