version: 66.02
glider: 116
mission: 6
dive: 70
start: 9 29 107 1 29 3
data:
$ID,116
$MISSION,6
$DIVE,70
$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,-30679.459
$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,14
$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
$GPS1,012058,4738.323,-12253.425,9,3.7,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-67.3
$GPS2,012723,4738.323,-12253.392,12,4.6,31,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.045,0.240
$KALMAN_X,2813.6,83.2,-148.8,-2803.8,-66.7
$KALMAN_Y,1287.4,217.3,-14.5,-2276.0,-63.0
$MHEAD_RNG_PITCHd_Wd,352.2,1011,-14.6,-8.333
$D_GRID,146
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,29,-1.40,-146.6,0.0,0.0,0,97,0.00,0.00,-64.82,0.000,2,0.000,0.000,133,995,3078
$GC,100,-1.40,-146.6,2.2,-5.2,11,149,16.05,0.00,-26.58,0.000,6,0.217,0.000,2594,995,3878
$GC,216,-1.40,-146.6,8.9,-7.7,29,221,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,995,3879
$GC,288,-1.40,-146.6,13.9,-7.1,40,293,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,996,3879
$GC,360,-1.40,-146.6,18.5,-5.4,51,366,0.00,2.50,0.00,0.000,4,0.000,0.041,2594,2416,3880
$GC,481,-1.40,-146.6,26.0,-6.8,62,485,0.00,2.58,0.00,0.000,6,0.000,0.051,2594,999,3879
$GC,676,-1.40,-146.6,39.0,-6.3,77,681,0.00,2.53,0.00,0.000,4,0.000,0.041,2594,2424,3880
$GC,874,-1.40,-146.6,51.4,-6.3,91,880,0.00,2.60,0.00,0.000,6,0.000,0.051,2594,995,3880
$GC,1070,-1.40,-146.6,64.9,-7.1,107,1074,0.00,2.53,0.00,0.000,4,0.000,0.041,2594,2421,3880
$GC,1235,-1.40,-146.6,76.8,-7.1,119,1240,0.00,2.60,0.00,0.000,6,0.000,0.052,2594,994,3880
$GC,1431,-1.40,-146.6,91.0,-7.5,134,1435,0.00,2.50,0.00,0.000,4,0.000,0.041,2594,2415,3880
$STATE,1563,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1563,begin apogee
$GC,1570,-0.42,0.0,100.1,6.6,144,1748,1.05,0.00,171.77,0.644,6,0.095,0.000,2808,2513,3281
$STATE,1749,end apogee,CONTROL_FINISHED_OK
$STATE,1749,begin climb
$GC,1751,1.40,146.6,102.8,0.0,159,1933,1.83,2.70,170.15,0.614,4,0.059,0.077,3205,3884,2683
$GC,1960,1.40,146.6,86.1,11.7,176,1964,0.00,2.47,0.00,0.000,6,0.000,0.040,3205,2492,2683
$GC,2155,1.40,146.6,63.7,11.9,191,2159,0.00,2.50,0.00,0.000,4,0.000,0.054,3205,1106,2683
$GC,2173,1.40,146.6,61.2,12.6,192,2181,0.00,2.53,0.00,0.000,6,0.000,0.041,3205,2502,2683
$GC,2370,1.40,146.6,37.2,11.5,208,2374,0.00,2.60,0.00,0.000,4,0.000,0.072,3205,3890,2683
$GC,2421,1.40,146.6,31.1,11.6,211,2429,0.00,2.47,0.00,0.000,6,0.000,0.039,3205,2503,2683
$GC,2622,1.40,146.6,9.9,10.2,234,2628,0.00,2.53,0.00,0.000,4,0.000,0.053,3205,1101,2682
$GC,2655,1.40,146.6,6.7,10.1,239,2661,0.00,2.53,0.00,0.000,6,0.000,0.042,3206,2515,2682
$STATE,2718,end climb,SURFACE_DEPTH_REACHED
$STATE,2718,begin surface coast
$FINISH,0.1,1.020570
$STATE,2753,end surface coast,CONTROL_FINISHED_OK
$STATE,2753,begin surface
$SM_CCo,2785,112.03,0.577,0,0,1649,400.08
$SM_GC,0.76,0.00,0.00,112.03,0.000,0.000,0.577,134,1011,1649,-12.75,0.31,400.08
$IRIDIUM_FIX,4719.74,-12254.47,290907,040403
$TT8_MAMPS,0.066729
$HUMID,2194
$INTERNAL_PRESSURE,11.5043
$TCM_TEMP,19.70
$XPDR_PINGS,151
$24V_AH,23.9,23.069
$10V_AH,10.1,13.500
$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,32.900,41.125,341.925,112.025,0.000,40.594,34.940,162.237,38.250,46.250,3397.750,32.418,471.123,1364.028,536.229,530.812,438.892,33.328,862.302,0.000,490.285,0.000,4.059
$DEVICE_MAMPS,217.061,77.467,643.513,576.784,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,166.538,0.000,0.000,0.000,0.000,0.000,0.000,3444.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6442,254
$CFSIZE,260034560,255172608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,021838,4738.650,-12253.102,41,1.4,41,18.3