version: 66.02
glider: 116
mission: 6
dive: 151
start: 10 2 107 12 30 33
data:
$ID,116
$MISSION,6
$DIVE,151
$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,-32530.719
$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,16
$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
$GPS1,121653,4739.137,-12253.017,11,2.2,30,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-59.8
$GPS2,122921,4739.239,-12252.857,16,2.0,16,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.166,-0.179
$KALMAN_X,23619.8,364.5,268.6,-23637.4,16.4
$KALMAN_Y,17999.5,438.7,383.5,-17912.5,-15.0
$MHEAD_RNG_PITCHd_Wd,204.6,910,-14.6,-8.333
$D_GRID,126
$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,-146.6,0.0,0.0,0,109,0.00,0.00,-78.20,0.000,2,0.000,0.000,134,1010,3305
$GC,114,-1.40,-146.6,2.1,-4.4,13,157,15.75,1.73,-19.38,0.000,4,0.209,0.117,2598,166,3880
$GC,180,-1.40,-146.6,5.5,-6.9,23,186,0.00,1.52,0.00,0.000,6,0.000,0.048,2597,1003,3881
$GC,253,-1.40,-146.6,9.9,-6.1,34,259,0.00,2.50,0.00,0.000,4,0.000,0.042,2597,2419,3881
$GC,457,-1.40,-146.6,23.0,-6.5,62,464,0.00,2.58,0.00,0.000,6,0.000,0.052,2597,1003,3881
$GC,653,-1.40,-146.6,35.1,-6.4,78,657,0.00,2.50,0.00,0.000,4,0.000,0.041,2597,2423,3881
$GC,871,-1.40,-146.6,49.0,-6.1,94,877,0.00,2.60,0.00,0.000,6,0.000,0.051,2597,999,3881
$GC,1067,-1.40,-146.6,61.0,-5.9,110,1071,0.00,2.50,0.00,0.000,4,0.000,0.041,2597,2412,3881
$GC,1211,-1.40,-146.6,69.8,-5.9,120,1218,0.00,2.58,0.00,0.000,6,0.000,0.052,2597,999,3881
$GC,1408,-1.40,-146.6,81.9,-5.9,136,1412,0.00,2.50,0.00,0.000,4,0.000,0.041,2597,2413,3881
$GC,1566,-1.40,-146.6,91.6,-6.4,147,1572,0.00,2.58,0.00,0.000,6,0.000,0.052,2597,999,3881
$STATE,1709,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1712,begin apogee
$GC,1721,-0.42,0.0,100.7,6.2,159,1901,1.05,0.00,172.73,0.653,6,0.097,0.000,2809,2511,3281
$STATE,1902,end apogee,CONTROL_FINISHED_OK
$STATE,1902,begin climb
$GC,1905,1.40,146.6,102.9,0.0,174,2089,1.83,2.62,172.07,0.617,4,0.059,0.049,3206,1084,2683
$GC,2121,1.40,146.6,83.6,10.8,191,2128,0.00,2.58,0.00,0.000,6,0.000,0.040,3206,2517,2683
$GC,2318,1.40,146.6,62.1,11.0,207,2322,0.00,2.60,0.00,0.000,4,0.000,0.073,3206,3894,2683
$GC,2353,1.40,146.6,58.1,12.3,209,2357,0.00,2.47,0.00,0.000,6,0.000,0.038,3206,2489,2683
$GC,2548,1.40,146.6,35.8,10.9,224,2552,0.00,2.50,0.00,0.000,4,0.000,0.051,3206,1106,2683
$GC,2581,1.40,146.6,32.2,10.7,226,2585,0.00,2.53,0.00,0.000,6,0.000,0.041,3207,2519,2682
$GC,2780,1.40,146.6,11.2,10.7,247,2786,0.00,2.58,0.00,0.000,4,0.000,0.071,3206,3895,2682
$STATE,2872,end climb,SURFACE_DEPTH_REACHED
$STATE,2872,begin surface coast
$FINISH,0.2,1.021589
$STATE,2891,end surface coast,CONTROL_FINISHED_OK
$STATE,2891,begin surface
$SM_CCo,2927,111.72,0.575,0,0,1649,400.08
$SM_GC,0.83,0.00,0.00,111.72,0.000,0.000,0.575,132,1010,1649,-12.76,0.28,400.08
$IRIDIUM_FIX,4722.92,-12253.53,021007,161608
$TT8_MAMPS,0.070564
$HUMID,2144
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,19.70
$XPDR_PINGS,167
$24V_AH,23.9,32.284
$10V_AH,10.0,19.839
$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,32.275,49.450,344.800,111.725,0.000,77.586,74.568,386.414,42.250,20.760,3901.240,16.371,478.818,1514.668,567.093,508.014,748.032,33.345,875.707,0.000,485.585,0.000,4.055
$DEVICE_MAMPS,208.624,116.584,652.717,575.250,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,173.351,0.000,0.000,0.000,0.000,0.000,0.000,3922.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6440,264
$CFSIZE,260034560,252571648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,132231,4739.025,-12253.181,36,1.0,42,18.3