version: 66.02
glider: 116
mission: 6
dive: 69
start: 9 29 107 0 30 19
data:
$ID,116
$MISSION,6
$DIVE,69
$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,-30646.412
$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,16
$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
$GPS1,002033,4738.129,-12253.824,15,1.8,15,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-67.5
$GPS2,002915,4738.119,-12253.812,14,1.7,14,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.167,0.178
$KALMAN_X,2546.4,113.4,21.4,-3258.8,-234.9
$KALMAN_Y,1259.6,204.4,75.2,-2702.4,-45.1
$MHEAD_RNG_PITCHd_Wd,24.9,1510,-14.6,-8.333
$D_GRID,100
$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,-66.43,0.000,2,0.000,0.000,137,992,3110
$GC,101,-1.40,-146.6,2.1,-5.0,11,150,16.27,1.67,-24.45,0.000,4,0.220,0.117,2597,169,3880
$GC,190,-1.40,-146.6,7.4,-7.6,25,196,0.00,1.50,0.00,0.000,6,0.000,0.048,2597,1001,3880
$GC,263,-1.40,-146.6,12.8,-7.3,36,269,0.00,2.50,0.00,0.000,4,0.000,0.041,2597,2419,3881
$GC,336,-1.40,-146.6,17.6,-5.9,47,342,0.00,2.58,0.00,0.000,6,0.000,0.050,2597,1001,3881
$GC,414,-1.40,-146.6,22.7,-6.4,56,415,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,1001,3881
$GC,605,-1.40,-146.6,35.7,-6.8,71,609,0.00,2.50,0.00,0.000,4,0.000,0.041,2597,2413,3882
$GC,823,-1.40,-146.6,50.5,-6.6,87,827,0.00,2.58,0.00,0.000,6,0.000,0.053,2597,1002,3881
$GC,1019,-1.40,-146.6,63.9,-6.9,102,1023,0.00,2.50,0.00,0.000,4,0.000,0.041,2597,2414,3882
$GC,1184,-1.40,-146.6,75.0,-6.8,114,1188,0.00,2.58,0.00,0.000,6,0.000,0.053,2597,1001,3882
$GC,1380,-1.40,-146.6,88.9,-7.1,129,1384,0.00,2.50,0.00,0.000,4,0.000,0.041,2597,2420,3882
$STATE,1543,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1544,begin apogee
$GC,1550,-0.42,0.0,100.0,6.6,141,1728,1.02,0.00,171.98,0.644,6,0.094,0.000,2807,2517,3281
$STATE,1729,end apogee,CONTROL_FINISHED_OK
$STATE,1729,begin climb
$GC,1732,1.40,146.6,103.7,0.0,156,1910,1.83,0.00,170.52,0.615,6,0.058,0.000,3207,2516,2683
$GC,2093,1.40,146.6,72.0,11.0,185,2094,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2516,2682
$GC,2284,1.40,146.6,51.4,10.9,200,2286,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2516,2682
$GC,2474,1.40,146.6,30.8,10.4,215,2475,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2516,2683
$GC,2665,1.40,146.6,11.2,9.5,236,2670,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2516,2682
$GC,2737,1.40,146.6,4.7,9.3,247,2743,0.00,2.60,0.00,0.000,4,0.000,0.051,3207,1089,2682
$GC,2783,1.50,230.1,2.0,5.1,254,2791,0.12,2.53,2.55,0.732,2,0.062,0.041,3236,2509,2668
$STATE,2792,end climb,SURFACE_DEPTH_REACHED
$STATE,2792,begin surface coast
$FINISH,0.0,1.010128
$STATE,2830,end surface coast,CONTROL_FINISHED_OK
$STATE,2830,begin surface
$SM_CCo,2862,110.20,0.579,0,0,1650,400.08
$SM_GC,0.79,0.00,0.00,110.20,0.000,0.000,0.579,134,995,1650,-12.75,-0.14,400.08
$IRIDIUM_FIX,4722.92,-12256.21,290907,030359
$TT8_MAMPS,0.067496
$HUMID,2176
$INTERNAL_PRESSURE,11.5043
$TCM_TEMP,19.70
$XPDR_PINGS,153
$24V_AH,23.9,22.954
$10V_AH,10.1,13.426
$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,33.350,29.000,345.050,110.200,0.000,38.946,35.937,291.685,38.750,46.250,3564.750,14.548,473.652,1453.869,535.445,494.645,559.910,33.327,838.365,0.000,471.609,0.000,4.057
$DEVICE_MAMPS,220.129,116.584,731.718,579.085,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,171.577,0.000,0.000,0.000,0.000,0.000,0.000,3611.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6464,261
$CFSIZE,260034560,255205376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,012058,4738.323,-12253.425,9,3.7,28,18.3