version: 66.02
glider: 116
mission: 6
dive: 68
start: 9 28 107 23 30 17
data:
$ID,116
$MISSION,6
$DIVE,68
$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,-3
$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,-30631.234
$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
$GPS1,232253,4737.991,-12254.126,15,2.6,34,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-68.1
$GPS2,232844,4737.981,-12254.121,11,1.2,16,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.185,0.159
$KALMAN_X,2432.2,163.3,180.6,-3733.4,-264.3
$KALMAN_Y,1231.3,224.2,197.0,-3077.2,-77.9
$MHEAD_RNG_PITCHd_Wd,31.1,1913,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-1.40,-146.6,0.0,0.0,0,97,0.00,0.00,-66.40,0.000,2,0.000,0.000,135,986,3120
$GC,101,-1.40,-146.6,2.1,-5.3,11,144,16.17,0.00,-22.80,0.000,6,0.219,0.000,2594,985,3880
$GC,211,-1.40,-146.6,9.3,-7.7,28,217,0.00,1.62,0.00,0.000,4,0.000,0.100,2595,166,3881
$GC,230,-1.40,-146.6,10.9,-8.1,31,236,0.00,1.52,0.00,0.000,6,0.000,0.049,2594,1003,3881
$GC,303,-1.40,-146.6,15.6,-6.3,42,309,0.00,2.50,0.00,0.000,4,0.000,0.042,2594,2421,3882
$GC,376,-1.40,-146.6,20.2,-6.4,53,382,0.00,2.58,0.00,0.000,6,0.000,0.051,2594,1000,3882
$GC,571,-1.40,-146.6,34.1,-7.0,69,575,0.00,2.50,0.00,0.000,4,0.000,0.041,2594,2415,3882
$GC,737,-1.40,-146.6,44.5,-6.9,81,741,0.00,2.58,0.00,0.000,6,0.000,0.053,2594,1001,3882
$GC,932,-1.40,-146.6,58.1,-7.0,96,936,0.00,2.50,0.00,0.000,4,0.000,0.048,2595,2419,3882
$GC,1111,-1.40,-146.6,70.6,-7.0,109,1117,0.00,2.58,0.00,0.000,6,0.000,0.052,2594,1000,3882
$GC,1307,-1.40,-146.6,85.3,-7.6,125,1311,0.00,2.50,0.00,0.000,4,0.000,0.041,2594,2416,3882
$GC,1478,-1.40,-146.6,97.9,-7.2,137,1484,0.00,2.58,0.00,0.000,6,0.000,0.053,2594,999,3882
$STATE,1508,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1508,begin apogee
$GC,1517,-0.42,0.0,100.1,7.5,140,1695,1.05,0.00,171.95,0.643,6,0.096,0.000,2808,2513,3281
$STATE,1696,end apogee,CONTROL_FINISHED_OK
$STATE,1696,begin climb
$GC,1699,1.40,146.6,104.4,0.0,155,1877,1.83,0.00,170.32,0.614,6,0.058,0.000,3208,2513,2683
$GC,2061,1.40,146.6,73.4,10.3,184,2062,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2513,2683
$GC,2252,1.40,146.6,53.4,11.2,199,2253,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2513,2683
$GC,2441,1.40,146.6,32.9,10.7,214,2442,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2513,2683
$GC,2632,1.40,146.6,12.8,9.6,234,2638,0.00,2.58,0.00,0.000,4,0.000,0.051,3209,1087,2682
$GC,2651,1.40,146.6,10.8,10.2,237,2657,0.00,2.53,0.00,0.000,6,0.000,0.041,3209,2511,2682
$GC,2724,1.40,146.6,4.4,8.9,248,2729,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2511,2682
$STATE,2766,end climb,SURFACE_DEPTH_REACHED
$STATE,2766,begin surface coast
$FINISH,0.1,1.020350
$STATE,2822,end surface coast,CONTROL_FINISHED_OK
$STATE,2822,begin surface
$SM_CCo,2852,111.32,0.581,0,0,1649,400.08
$SM_GC,0.78,0.00,0.00,111.32,0.000,0.000,0.581,136,992,1649,-12.74,-0.23,400.08
$IRIDIUM_FIX,4719.74,-12254.47,290907,020221
$TT8_MAMPS,0.067496
$HUMID,2181
$INTERNAL_PRESSURE,11.5141
$TCM_TEMP,19.60
$XPDR_PINGS,164
$24V_AH,23.9,22.829
$10V_AH,10.1,13.349
$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,33.050,34.100,342.275,111.325,0.000,39.463,33.262,151.661,41.500,12.460,3466.540,16.327,486.690,1432.809,539.254,493.151,415.087,33.338,847.609,0.000,473.749,0.000,4.055
$DEVICE_MAMPS,219.362,100.477,642.746,580.619,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,172.879,0.000,0.000,0.000,0.000,0.000,0.000,3479.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6448,263
$CFSIZE,260034560,255238144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,002033,4738.129,-12253.824,15,1.8,15,18.3