version: 66.02
glider: 116
mission: 6
dive: 155
start: 10 2 107 15 58 10
data:
$ID,116
$MISSION,6
$DIVE,155
$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,-32626.553
$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,23
$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
$GPS1,154614,4738.891,-12253.361,11,1.4,28,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-63.9
$GPS2,155659,4739.015,-12253.084,14,3.0,33,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.201,-0.138
$KALMAN_X,24860.5,511.4,-23.6,-25019.1,227.0
$KALMAN_Y,19008.2,569.9,-102.2,-18984.4,104.4
$MHEAD_RNG_PITCHd_Wd,217.3,414,-14.6,-8.333
$D_GRID,135
$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,-78.12,0.000,2,0.000,0.000,137,995,3325
$GC,113,-1.40,-146.6,2.2,-5.0,13,157,15.62,2.58,-18.67,0.000,4,0.206,0.052,2594,2416,3880
$GC,322,-1.40,-146.6,14.0,-6.2,45,328,0.00,2.60,0.00,0.000,6,0.000,0.051,2593,991,3881
$GC,395,-1.40,-146.6,18.0,-5.7,56,400,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,991,3881
$GC,472,-1.40,-146.6,22.8,-6.5,65,476,0.00,2.53,0.00,0.000,4,0.000,0.041,2594,2412,3881
$GC,613,-1.40,-146.6,31.7,-6.7,75,617,0.00,2.58,0.00,0.000,6,0.000,0.052,2594,999,3881
$GC,816,-1.40,-146.6,46.0,-7.0,91,820,0.00,2.50,0.00,0.000,4,0.000,0.041,2594,2410,3881
$GC,973,-1.40,-146.6,56.4,-6.8,102,979,0.00,2.58,0.00,0.000,6,0.000,0.051,2594,997,3881
$GC,1169,-1.40,-146.6,68.9,-6.4,118,1174,0.00,2.50,0.00,0.000,4,0.000,0.041,2594,2410,3881
$GC,1335,-1.40,-146.6,78.8,-6.1,130,1339,0.00,2.58,0.00,0.000,6,0.000,0.052,2594,1000,3881
$GC,1531,-1.40,-146.6,92.4,-6.8,145,1535,0.00,2.50,0.00,0.000,4,0.000,0.041,2594,2418,3881
$STATE,1652,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1652,begin apogee
$GC,1659,-0.42,0.0,100.1,6.6,154,1839,1.05,0.00,173.38,0.647,6,0.097,0.000,2810,2514,3281
$STATE,1840,end apogee,CONTROL_FINISHED_OK
$STATE,1840,begin climb
$GC,1843,1.40,146.6,103.1,0.0,169,2027,1.85,0.00,172.55,0.614,6,0.060,0.000,3210,2513,2682
$GC,2214,1.40,146.6,67.7,11.6,199,2215,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2514,2682
$GC,2405,1.40,146.6,46.0,11.3,214,2409,0.00,2.58,0.00,0.000,4,0.000,0.050,3209,1093,2682
$GC,2430,1.40,146.6,42.8,11.4,215,2437,0.00,2.53,0.00,0.000,6,0.000,0.041,3210,2508,2682
$GC,2627,1.40,146.6,20.3,11.6,231,2628,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2508,2683
$STATE,2782,end climb,SURFACE_DEPTH_REACHED
$STATE,2782,begin surface coast
$FINISH,0.2,1.018137
$STATE,2797,end surface coast,CONTROL_FINISHED_OK
$STATE,2797,begin surface
$SM_CCo,2830,111.50,0.574,0,0,1648,400.08
$SM_GC,0.88,0.00,0.00,111.50,0.000,0.000,0.574,136,996,1648,-12.74,-0.11,400.08
$IRIDIUM_FIX,4722.92,-12251.79,021007,191928
$TT8_MAMPS,0.068263
$HUMID,2136
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,19.60
$XPDR_PINGS,164
$24V_AH,23.9,32.729
$10V_AH,10.0,20.107
$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,32.425,31.000,345.925,111.500,0.000,80.566,72.346,260.781,41.500,33.210,3695.790,34.585,462.257,1477.499,543.795,511.693,621.710,33.375,844.476,0.000,470.451,0.000,4.057
$DEVICE_MAMPS,206.323,70.564,646.581,573.716,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,168.356,0.000,0.000,0.000,0.000,0.000,0.000,3729.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6436,256
$CFSIZE,260034560,252456960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,164832,4738.900,-12253.359,43,1.6,43,18.3