version: 66.02
glider: 116
mission: 6
dive: 130
start: 10 1 107 18 51 44
data:
$ID,116
$MISSION,6
$DIVE,130
$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,-32076.748
$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,15
$R_STBD_OVSHOOT,22
$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
$GPS1,184337,4738.837,-12253.354,9,1.9,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-60.1
$GPS2,185035,4738.891,-12253.207,14,2.1,33,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.166,-0.090
$KALMAN_X,16254.4,214.8,-23.0,-16267.9,244.8
$KALMAN_Y,12453.0,53.3,-20.7,-12220.6,172.1
$MHEAD_RNG_PITCHd_Wd,223.4,163,-20.2,-8.333
$D_GRID,136
$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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,31,-1.79,-82.9,0.0,0.0,0,123,0.00,0.00,-87.60,0.000,6,0.000,0.000,137,999,3620
$GC,128,-1.86,-146.6,2.3,-2.4,15,153,15.27,0.00,-7.30,0.000,6,0.214,0.000,2492,1000,3879
$GC,222,-1.86,-146.6,10.7,-7.9,29,228,0.00,2.50,0.00,0.000,4,0.000,0.041,2492,2413,3880
$GC,288,-1.86,-146.6,16.9,-9.6,39,294,0.00,2.58,0.00,0.000,6,0.000,0.051,2492,996,3879
$GC,359,-1.86,-146.6,23.9,-10.1,47,363,0.00,2.53,0.00,0.000,4,0.000,0.041,2492,2420,3880
$GC,517,-1.86,-146.6,38.1,-9.5,58,523,0.00,2.60,0.00,0.000,6,0.000,0.051,2492,993,3880
$GC,713,-1.86,-146.6,57.9,-9.9,74,717,0.00,2.53,0.00,0.000,4,0.000,0.041,2492,2419,3880
$GC,787,-1.86,-146.6,64.9,-10.1,79,791,0.00,2.60,0.00,0.000,6,0.000,0.051,2492,992,3880
$GC,982,-1.86,-146.6,84.0,-9.4,94,987,0.00,2.53,0.00,0.000,4,0.000,0.041,2492,2419,3880
$GC,1096,-1.86,-146.6,94.3,-9.1,102,1101,0.00,2.58,0.00,0.000,6,0.000,0.051,2492,997,3880
$STATE,1160,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1160,begin apogee
$GC,1169,-0.42,0.0,100.2,9.1,107,1350,1.60,0.00,173.38,0.642,6,0.111,0.000,2807,2511,3281
$STATE,1351,end apogee,CONTROL_FINISHED_OK
$STATE,1351,begin climb
$GC,1354,1.86,146.6,102.9,0.0,122,1533,2.30,0.00,172.00,0.611,6,0.059,0.000,3316,2511,2683
$GC,1722,1.86,146.6,54.5,15.3,152,1726,0.00,2.62,0.00,0.000,4,0.000,0.075,3316,3892,2683
$GC,1760,1.86,146.6,47.8,15.9,154,1767,0.00,2.47,0.00,0.000,6,0.000,0.038,3316,2491,2683
$GC,1956,1.86,146.6,20.3,12.9,170,1957,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2490,2683
$STATE,2085,end climb,SURFACE_DEPTH_REACHED
$STATE,2085,begin surface coast
$FINISH,0.4,1.020657
$STATE,2093,end surface coast,CONTROL_FINISHED_OK
$STATE,2093,begin surface
$SM_CCo,2127,112.30,0.565,0,0,1649,400.08
$SM_GC,0.83,0.00,0.00,112.30,0.000,0.000,0.565,134,1005,1649,-12.75,0.11,400.08
$IRIDIUM_FIX,4722.92,-12256.21,011007,212157
$TT8_MAMPS,0.066729
$HUMID,2134
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,19.60
$XPDR_PINGS,115
$24V_AH,23.9,30.183
$10V_AH,10.1,18.449
$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,33.800,31.000,345.375,112.300,0.000,37.538,42.891,179.477,29.250,14.790,2778.210,34.062,351.547,969.536,549.481,382.469,432.152,33.368,782.800,0.000,342.522,0.000,4.057
$DEVICE_MAMPS,213.993,75.166,641.979,565.279,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,123.508,0.000,0.000,0.000,0.000,0.000,0.000,2793.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6446,190
$CFSIZE,260034560,253214720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,192951,4738.850,-12253.390,11,1.8,11,18.3