version: 66.02
glider: 116
mission: 6
dive: 113
start: 10 1 107 4 31 29
data:
$ID,116
$MISSION,6
$DIVE,113
$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,-31680.555
$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,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
$GPS1,042325,4738.986,-12253.223,37,1.3,37,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-62.0
$GPS2,043020,4739.069,-12253.034,15,1.3,32,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.182,-0.162
$KALMAN_X,11325.2,222.8,-92.8,-11063.3,283.5
$KALMAN_Y,9874.0,69.1,-84.3,-9267.8,235.2
$MHEAD_RNG_PITCHd_Wd,210.0,529,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,30,-1.40,-146.6,0.0,0.0,0,115,0.00,0.00,-82.68,0.000,2,0.000,0.000,136,1013,3477
$GC,118,-1.40,-146.6,2.1,-2.0,14,156,15.80,2.55,-12.12,0.000,4,0.212,0.054,2593,2414,3880
$GC,191,-1.40,-146.6,7.2,-6.6,25,197,0.00,2.60,0.00,0.000,6,0.000,0.051,2593,991,3881
$GC,264,-1.40,-146.6,12.4,-7.0,36,269,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,991,3882
$GC,336,-1.40,-146.6,17.3,-6.7,47,343,0.00,2.53,0.00,0.000,4,0.000,0.042,2594,2417,3882
$GC,403,-1.40,-146.6,21.8,-6.5,55,407,0.00,2.60,0.00,0.000,6,0.000,0.052,2594,992,3882
$GC,599,-1.40,-146.6,35.2,-6.2,70,603,0.00,2.53,0.00,0.000,4,0.000,0.041,2595,2419,3882
$GC,843,-1.40,-146.6,52.4,-7.7,88,849,0.00,2.58,0.00,0.000,6,0.000,0.051,2594,999,3882
$GC,1039,-1.40,-146.6,66.4,-6.6,104,1043,0.00,2.50,0.00,0.000,4,0.000,0.041,2594,2416,3882
$GC,1178,-1.40,-146.6,75.3,-6.6,114,1182,0.00,2.58,0.00,0.000,6,0.000,0.051,2594,999,3881
$GC,1374,-1.40,-146.6,88.8,-6.6,129,1378,0.00,2.53,0.00,0.000,4,0.000,0.041,2593,2424,3882
$GC,1539,-1.40,-146.6,99.7,-6.8,141,1547,0.00,2.60,0.00,0.000,6,0.000,0.051,2594,995,3882
$STATE,1551,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1551,begin apogee
$GC,1560,-0.42,0.0,100.6,6.1,142,1740,1.05,0.00,173.40,0.644,6,0.097,0.000,2807,2509,3281
$STATE,1741,end apogee,CONTROL_FINISHED_OK
$STATE,1741,begin climb
$GC,1743,1.40,146.6,102.8,0.0,157,1926,1.85,2.70,170.70,0.614,4,0.060,0.077,3209,3881,2683
$GC,1984,1.40,146.6,80.0,12.8,176,1991,0.00,2.47,0.00,0.000,6,0.000,0.038,3210,2498,2683
$GC,2181,1.40,146.6,57.8,11.4,192,2185,0.00,2.65,0.00,0.000,4,0.000,0.072,3210,3892,2682
$GC,2227,1.40,146.6,52.3,12.2,195,2231,0.00,2.45,0.00,0.000,6,0.000,0.038,3210,2500,2682
$GC,2422,1.40,146.6,31.4,10.8,210,2426,0.00,2.50,0.00,0.000,4,0.000,0.052,3210,1110,2682
$GC,2447,1.40,146.6,28.6,11.1,211,2454,0.00,2.53,0.00,0.000,6,0.000,0.041,3213,2508,2682
$GC,2648,1.40,146.6,8.0,9.9,235,2654,0.00,2.60,0.00,0.000,4,0.000,0.072,3210,3894,2682
$STATE,2705,end climb,SURFACE_DEPTH_REACHED
$STATE,2705,begin surface coast
$FINISH,0.1,1.019891
$STATE,2721,end surface coast,CONTROL_FINISHED_OK
$STATE,2722,begin surface
$SM_CCo,2755,115.25,0.574,0,0,1649,400.08
$SM_GC,0.75,0.00,0.00,115.25,0.000,0.000,0.574,133,1003,1649,-12.75,0.08,400.08
$IRIDIUM_FIX,4722.92,-12256.21,011007,070742
$TT8_MAMPS,0.067496
$HUMID,2134
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,19.80
$XPDR_PINGS,154
$24V_AH,23.9,28.428
$10V_AH,10.0,17.341
$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,32.925,51.475,344.100,115.250,0.000,40.767,37.918,181.670,39.000,19.150,3401.850,32.608,452.591,1338.492,551.888,526.030,443.872,33.348,876.510,0.000,483.015,0.000,4.064
$DEVICE_MAMPS,211.692,77.467,643.513,574.483,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,161.162,0.000,0.000,0.000,0.000,0.000,0.000,3421.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6441,246
$CFSIZE,260034560,253702144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,052009,4739.045,-12253.121,13,1.9,13,18.3