version: 66.02
glider: 116
mission: 6
dive: 73
start: 9 29 107 4 18 3
data:
$ID,116
$MISSION,6
$DIVE,73
$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,-30717.873
$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,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
$GPS1,041011,4739.058,-12253.210,10,3.4,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-67.6
$GPS2,041651,4739.068,-12253.174,11,1.6,11,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.168,-0.177
$KALMAN_X,3698.2,106.0,-118.9,-3464.9,269.5
$KALMAN_Y,1971.0,251.3,-135.5,-1498.6,175.7
$MHEAD_RNG_PITCHd_Wd,205.2,422,-14.6,-8.333
$D_GRID,134
$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,28,-1.40,-146.6,0.0,0.0,0,96,0.00,0.00,-66.43,0.000,2,0.000,0.000,136,1008,3129
$GC,100,-1.40,-146.6,2.2,-4.9,11,144,16.02,2.50,-20.58,0.000,4,0.216,0.053,2594,2415,3880
$GC,396,-1.40,-146.6,18.1,-4.8,56,402,0.00,2.58,0.00,0.000,6,0.000,0.051,2594,1001,3881
$GC,467,-1.40,-146.6,21.4,-4.7,65,472,0.00,2.50,0.00,0.000,4,0.000,0.041,2593,2416,3881
$GC,724,-1.40,-146.6,40.7,-7.5,84,731,0.00,2.58,0.00,0.000,6,0.000,0.051,2594,1000,3882
$GC,921,-1.40,-146.6,54.6,-6.8,100,925,0.00,2.47,0.00,0.000,4,0.000,0.041,2594,2416,3881
$GC,1177,-1.40,-146.6,70.8,-6.3,119,1184,0.00,2.58,0.00,0.000,6,0.000,0.052,2594,1000,3881
$GC,1374,-1.40,-146.6,83.6,-6.7,135,1378,0.00,2.50,0.00,0.000,4,0.000,0.041,2594,2421,3881
$GC,1466,-1.40,-146.6,89.3,-6.2,142,1471,0.00,2.60,0.00,0.000,6,0.000,0.052,2594,998,3881
$STATE,1626,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1626,begin apogee
$GC,1635,-0.42,0.0,100.6,6.9,154,1813,1.05,0.00,172.10,0.644,6,0.095,0.000,2808,2512,3281
$STATE,1814,end apogee,CONTROL_FINISHED_OK
$STATE,1814,begin climb
$GC,1817,1.40,146.6,104.2,0.0,169,1994,1.83,0.00,170.52,0.615,6,0.059,0.000,3213,2511,2683
$GC,2181,1.40,146.6,72.8,10.9,199,2182,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2513,2683
$GC,2372,1.40,146.6,51.4,11.8,214,2373,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2511,2683
$GC,2561,1.40,146.6,30.8,10.8,229,2562,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2511,2682
$GC,2752,1.40,146.6,10.7,10.6,250,2758,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2511,2682
$GC,2824,1.40,146.6,3.1,10.7,261,2830,0.00,2.58,0.00,0.000,4,0.000,0.051,3216,1087,2682
$STATE,2834,end climb,SURFACE_DEPTH_REACHED
$STATE,2835,begin surface coast
$FINISH,0.1,1.001531
$STATE,2855,end surface coast,CONTROL_FINISHED_OK
$STATE,2856,begin surface
$SM_CCo,2886,111.85,0.575,0,0,1649,400.08
$SM_GC,0.73,0.00,0.00,111.85,0.000,0.000,0.575,134,992,1649,-12.75,-0.23,400.08
$IRIDIUM_FIX,4719.74,-12250.06,290907,070701
$TT8_MAMPS,0.066729
$HUMID,2189
$INTERNAL_PRESSURE,11.4848
$TCM_TEMP,19.60
$XPDR_PINGS,170
$24V_AH,23.6,23.419
$10V_AH,10.1,13.717
$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,33.075,25.800,342.625,111.850,0.000,41.358,36.499,192.315,43.000,46.260,3491.740,11.226,476.306,1485.135,538.206,489.493,439.677,33.337,825.869,0.000,471.857,0.000,4.060
$DEVICE_MAMPS,215.527,75.166,644.280,575.250,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,175.184,0.000,0.000,0.000,0.000,0.000,0.000,3538.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6439,266
$CFSIZE,260034560,255086592
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,050907,4739.141,-12253.395,14,1.1,30,18.3