version: 66.02
glider: 116
mission: 6
dive: 98
start: 9 30 107 14 52 18
data:
$ID,116
$MISSION,6
$DIVE,98
$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,-31350.711
$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,17
$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
$GPS1,144037,4739.354,-12252.821,28,1.6,28,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-61.6
$GPS2,145108,4739.476,-12252.647,11,1.8,16,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.119,-0.213
$KALMAN_X,6333.9,523.9,-342.7,-5640.2,-8.1
$KALMAN_Y,5115.2,608.1,-145.1,-4234.6,123.5
$MHEAD_RNG_PITCHd_Wd,190.9,1415,-14.6,-8.333
$D_GRID,124
$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,-146.6,0.0,0.0,0,117,0.00,0.00,-84.55,0.000,2,0.000,0.000,133,1009,3448
$GC,120,-1.40,-146.6,2.4,-6.4,14,157,15.88,2.53,-12.00,0.000,4,0.212,0.054,2595,2412,3880
$GC,330,-1.40,-146.6,17.4,-6.5,46,336,0.00,2.58,0.00,0.000,6,0.000,0.052,2595,993,3881
$GC,408,-1.40,-146.6,22.7,-7.0,55,412,0.00,2.53,0.00,0.000,4,0.000,0.042,2595,2420,3881
$GC,459,-1.40,-146.6,26.2,-6.6,58,466,0.00,2.60,0.00,0.000,6,0.000,0.051,2594,991,3881
$GC,656,-1.40,-146.6,39.6,-6.8,74,660,0.00,2.53,0.00,0.000,4,0.000,0.041,2595,2416,3881
$GC,747,-1.40,-146.6,45.6,-6.2,80,754,0.00,2.58,0.00,0.000,6,0.000,0.051,2594,997,3881
$GC,944,-1.40,-146.6,58.3,-6.3,96,948,0.00,2.53,0.00,0.000,4,0.000,0.041,2594,2424,3881
$GC,1109,-1.40,-146.6,69.2,-6.5,108,1113,0.00,2.60,0.00,0.000,6,0.000,0.051,2594,994,3881
$GC,1305,-1.40,-146.6,83.0,-6.9,123,1309,0.00,2.53,0.00,0.000,4,0.000,0.041,2594,2419,3881
$GC,1471,-1.40,-146.6,94.2,-7.4,135,1477,0.00,2.58,0.00,0.000,6,0.000,0.052,2594,999,3881
$STATE,1563,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1563,begin apogee
$GC,1572,-0.42,0.0,100.9,6.9,143,1752,1.05,0.00,172.82,0.653,6,0.097,0.000,2807,2512,3281
$STATE,1753,end apogee,CONTROL_FINISHED_OK
$STATE,1754,begin climb
$GC,1756,1.40,146.6,104.6,0.0,158,1939,1.83,0.00,171.10,0.623,6,0.060,0.000,3206,2511,2682
$GC,2126,1.40,146.6,72.3,10.3,188,2128,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2512,2683
$GC,2318,1.40,146.6,52.3,10.4,203,2319,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2512,2683
$GC,2507,1.40,146.6,31.6,11.1,218,2508,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2512,2683
$GC,2698,1.40,146.6,10.8,10.4,239,2703,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2511,2682
$GC,2770,1.40,146.6,3.1,10.3,250,2776,0.00,2.62,0.00,0.000,4,0.000,0.079,3206,3890,2682
$STATE,2780,end climb,SURFACE_DEPTH_REACHED
$STATE,2780,begin surface coast
$FINISH,0.0,1.021691
$STATE,2801,end surface coast,CONTROL_FINISHED_OK
$STATE,2801,begin surface
$SM_CCo,2836,111.95,0.578,0,0,1649,400.08
$SM_GC,0.75,0.00,0.00,111.95,0.000,0.000,0.578,136,996,1649,-12.74,-0.11,400.08
$IRIDIUM_FIX,4719.74,-12251.79,300907,181848
$TT8_MAMPS,0.067496
$HUMID,2132
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,19.80
$XPDR_PINGS,163
$24V_AH,23.9,26.787
$10V_AH,10.0,16.286
$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,32.650,36.225,343.925,111.950,0.000,80.276,156.867,193.369,41.250,29.070,3681.930,16.591,459.524,1503.746,556.907,473.236,613.737,33.334,848.683,0.000,452.187,0.000,4.055
$DEVICE_MAMPS,211.692,79.001,653.484,578.318,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,167.439,0.000,0.000,0.000,0.000,0.000,0.000,3711.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6456,255
$CFSIZE,260034560,254156800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,154232,4739.275,-12252.855,13,1.4,30,18.3