version: 66.02
glider: 116
mission: 6
dive: 142
start: 10 2 107 3 36 33
data:
$ID,116
$MISSION,6
$DIVE,142
$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,-32286.295
$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,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
$GPS1,032515,4738.889,-12253.442,8,1.5,8,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-59.3
$GPS2,033521,4738.984,-12253.223,12,2.0,12,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.180,-0.165
$KALMAN_X,20421.4,22.8,10.6,-20295.4,315.0
$KALMAN_Y,14583.9,21.9,-113.9,-14056.3,210.2
$MHEAD_RNG_PITCHd_Wd,209.3,257,-14.6,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-1.40,-146.6,0.0,0.0,0,103,0.00,0.00,-72.22,0.000,2,0.000,0.000,133,1006,3215
$GC,108,-1.40,-146.6,2.1,-4.9,12,157,15.57,2.58,-23.70,0.000,4,0.204,0.053,2596,2425,3881
$GC,212,-1.40,-146.6,7.0,-5.9,28,218,0.00,2.58,0.00,0.000,6,0.000,0.049,2595,1001,3881
$GC,285,-1.40,-146.6,11.9,-6.5,39,291,0.00,1.65,0.00,0.000,4,0.000,0.098,2597,162,3881
$GC,365,-1.40,-146.6,17.5,-7.5,51,370,0.00,1.52,0.00,0.000,6,0.000,0.048,2597,1001,3882
$GC,442,-1.40,-146.6,22.8,-6.7,60,446,0.00,2.50,0.00,0.000,4,0.000,0.041,2597,2419,3882
$GC,700,-1.40,-146.6,39.3,-6.1,79,705,0.00,2.58,0.00,0.000,6,0.000,0.051,2596,1002,3881
$GC,896,-1.40,-146.6,51.5,-6.5,94,901,0.00,2.50,0.00,0.000,4,0.000,0.041,2596,2416,3882
$GC,1155,-1.40,-146.6,68.6,-6.4,113,1159,0.00,2.58,0.00,0.000,6,0.000,0.052,2596,1000,3882
$GC,1351,-1.40,-146.6,81.6,-6.5,128,1355,0.00,2.50,0.00,0.000,4,0.000,0.041,2596,2416,3882
$GC,1601,-1.40,-146.6,96.8,-6.3,146,1607,0.00,2.58,0.00,0.000,6,0.000,0.052,2596,996,3881
$STATE,1656,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1656,begin apogee
$GC,1665,-0.42,0.0,100.4,6.7,151,1845,1.05,0.00,173.60,0.644,6,0.097,0.000,2809,2513,3281
$STATE,1846,end apogee,CONTROL_FINISHED_OK
$STATE,1846,begin climb
$GC,1849,1.40,146.6,103.2,0.0,166,2032,1.83,2.65,172.12,0.611,4,0.058,0.075,3208,3887,2682
$GC,2105,1.40,146.6,80.0,12.0,186,2111,0.00,2.47,0.00,0.000,6,0.000,0.038,3209,2487,2682
$GC,2301,1.40,146.6,57.8,10.9,202,2305,0.00,2.50,0.00,0.000,4,0.000,0.053,3209,1105,2681
$GC,2339,1.40,146.6,53.2,11.2,204,2346,0.00,2.55,0.00,0.000,6,0.000,0.042,3209,2511,2682
$GC,2535,1.40,146.6,31.0,11.1,220,2540,0.00,2.60,0.00,0.000,4,0.000,0.072,3209,3893,2681
$GC,2582,1.40,146.6,25.7,11.8,223,2586,0.00,2.45,0.00,0.000,6,0.000,0.038,3209,2497,2681
$GC,2784,1.40,146.6,5.2,10.1,249,2790,0.00,2.50,0.00,0.000,4,0.000,0.053,3209,1106,2681
$GC,2804,1.40,146.6,2.7,11.5,252,2810,0.00,2.50,0.00,0.000,6,0.000,0.042,3209,2509,2682
$STATE,2814,end climb,SURFACE_DEPTH_REACHED
$STATE,2814,begin surface coast
$FINISH,0.2,1.013089
$STATE,2828,end surface coast,CONTROL_FINISHED_OK
$STATE,2829,begin surface
$SM_CCo,2862,111.88,0.574,0,0,1650,400.08
$SM_GC,0.91,0.00,0.00,111.88,0.000,0.000,0.574,135,1007,1650,-12.74,0.20,400.08
$IRIDIUM_FIX,4722.92,-12132.89,021007,070741
$TT8_MAMPS,0.06903
$HUMID,2148
$INTERNAL_PRESSURE,11.4848
$TCM_TEMP,19.70
$XPDR_PINGS,171
$24V_AH,23.9,31.317
$10V_AH,10.1,19.154
$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,32.475,49.300,345.725,111.875,0.000,77.001,81.726,245.944,43.250,0.000,3699.000,12.514,476.091,1443.923,546.753,542.283,602.726,33.341,885.774,0.000,520.999,0.000,4.056
$DEVICE_MAMPS,204.022,98.176,644.280,573.716,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,167.893,0.000,0.000,0.000,0.000,0.000,0.000,3699.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6456,256
$CFSIZE,260034560,252854272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,042725,4738.995,-12253.368,24,1.4,41,18.3