version: 66.02
glider: 116
mission: 6
dive: 99
start: 9 30 107 15 50 7
data:
$ID,116
$MISSION,6
$DIVE,99
$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,-31363.707
$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,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
$GPS1,154232,4739.275,-12252.855,13,1.4,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-63.3
$GPS2,154857,4739.345,-12252.729,12,1.8,12,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.156,-0.188
$KALMAN_X,6514.1,558.6,-393.8,-5905.4,92.6
$KALMAN_Y,5310.4,722.7,-198.8,-4729.7,118.5
$MHEAD_RNG_PITCHd_Wd,201.4,1163,-14.6,-8.333
$D_GRID,125
$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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,31,-1.40,-146.6,0.0,0.0,0,111,0.00,0.00,-78.43,0.000,2,0.000,0.000,136,996,3311
$GC,115,-1.40,-146.6,2.1,-5.8,13,158,15.95,2.58,-16.95,0.000,4,0.214,0.053,2593,2415,3880
$GC,238,-1.40,-146.6,10.0,-5.6,32,244,0.00,2.58,0.00,0.000,6,0.000,0.051,2593,999,3881
$GC,311,-1.40,-146.6,14.3,-6.2,43,317,0.00,2.53,0.00,0.000,4,0.000,0.041,2593,2423,3881
$GC,390,-1.40,-146.6,19.2,-5.9,55,396,0.00,2.60,0.00,0.000,6,0.000,0.051,2592,995,3881
$GC,460,-1.40,-146.6,23.7,-6.7,62,462,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,995,3881
$GC,652,-1.40,-146.6,35.7,-6.4,77,656,0.00,2.53,0.00,0.000,4,0.000,0.041,2593,2422,3881
$GC,794,-1.40,-146.6,44.5,-6.4,87,799,0.00,2.60,0.00,0.000,6,0.000,0.051,2593,1000,3881
$GC,990,-1.40,-146.6,57.2,-6.3,102,994,0.00,2.50,0.00,0.000,4,0.000,0.047,2593,2416,3881
$GC,1134,-1.40,-146.6,66.7,-6.5,112,1141,0.00,2.58,0.00,0.000,6,0.000,0.051,2593,1001,3881
$GC,1331,-1.40,-146.6,79.8,-7.0,128,1335,0.00,2.50,0.00,0.000,4,0.000,0.041,2593,2420,3881
$GC,1503,-1.40,-146.6,92.0,-6.4,141,1507,0.00,2.60,0.00,0.000,6,0.000,0.052,2593,1000,3881
$STATE,1620,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1621,begin apogee
$GC,1629,-0.42,0.0,100.6,7.0,150,1809,1.05,0.00,172.85,0.651,6,0.097,0.000,2806,2514,3281
$STATE,1810,end apogee,CONTROL_FINISHED_OK
$STATE,1810,begin climb
$GC,1813,1.40,146.6,103.5,0.0,165,1991,1.83,0.00,171.18,0.621,6,0.060,0.000,3211,2514,2683
$GC,2177,1.40,146.6,68.6,12.5,195,2181,0.00,2.58,0.00,0.000,4,0.000,0.051,3211,1094,2683
$GC,2217,1.40,146.6,63.7,12.6,197,2224,0.00,2.55,0.00,0.000,6,0.000,0.041,3211,2513,2682
$GC,2412,1.40,146.6,40.6,11.4,213,2413,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2514,2683
$GC,2605,1.40,146.6,19.4,11.5,228,2611,0.00,2.60,0.00,0.000,4,0.000,0.075,3211,3890,2683
$GC,2664,1.40,146.6,12.0,11.6,237,2671,0.00,2.45,0.00,0.000,6,0.000,0.038,3211,2495,2682
$GC,2737,1.40,146.6,3.7,11.7,248,2743,0.00,2.50,0.00,0.000,4,0.000,0.053,3211,1108,2683
$STATE,2754,end climb,SURFACE_DEPTH_REACHED
$STATE,2754,begin surface coast
$FINISH,0.3,1.021373
$STATE,2768,end surface coast,CONTROL_FINISHED_OK
$STATE,2768,begin surface
$SM_CCo,2798,112.12,0.575,0,0,1650,400.08
$SM_GC,0.69,0.00,0.00,112.12,0.000,0.000,0.575,137,1004,1650,-12.73,0.11,400.08
$IRIDIUM_FIX,4722.92,-12256.21,300907,181828
$TT8_MAMPS,0.065962
$HUMID,2143
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,19.70
$XPDR_PINGS,162
$24V_AH,23.3,26.903
$10V_AH,9.7,16.359
$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,32.800,41.200,344.025,112.125,0.000,38.169,34.224,178.933,41.000,37.350,3396.650,12.368,461.250,1404.158,554.539,472.004,432.430,33.331,852.500,0.000,451.655,0.000,4.055
$DEVICE_MAMPS,213.993,78.234,651.183,575.250,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,165.847,0.000,0.000,0.000,0.000,0.000,0.000,3434.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6466,253
$CFSIZE,260034560,254124032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,163927,4739.258,-12252.946,13,2.0,13,18.3