version: 66.02
glider: 116
mission: 6
dive: 156
start: 10 2 107 17 0 43
data:
$ID,116
$MISSION,6
$DIVE,156
$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,-32644.191
$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,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
$GPS1,164832,4738.900,-12253.359,43,1.6,43,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-60.1
$GPS2,165932,4739.050,-12253.053,12,1.6,17,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.189,-0.154
$KALMAN_X,25293.8,576.2,-22.8,-25478.6,225.5
$KALMAN_Y,19398.0,605.5,-156.0,-19291.6,149.2
$MHEAD_RNG_PITCHd_Wd,212.5,487,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-1.40,-146.6,0.0,0.0,0,110,0.00,0.00,-78.10,0.000,2,0.000,0.000,136,996,3314
$GC,113,-1.40,-146.6,2.2,-5.3,13,157,15.68,2.58,-18.83,0.000,4,0.209,0.052,2594,2414,3881
$GC,256,-1.40,-146.6,9.7,-6.2,35,262,0.00,2.58,0.00,0.000,6,0.000,0.050,2594,999,3881
$GC,329,-1.40,-146.6,13.9,-5.9,46,335,0.00,2.53,0.00,0.000,4,0.000,0.041,2594,2424,3881
$GC,466,-1.40,-146.6,22.6,-6.1,64,473,0.00,2.60,0.00,0.000,6,0.000,0.051,2594,998,3880
$GC,663,-1.40,-146.6,36.1,-6.7,80,667,0.00,2.50,0.00,0.000,4,0.000,0.041,2594,2414,3881
$GC,875,-1.40,-146.6,49.7,-6.4,96,880,0.00,2.60,0.00,0.000,6,0.000,0.059,2594,998,3882
$GC,1071,-1.40,-146.6,62.0,-6.1,111,1075,0.00,2.53,0.00,0.000,4,0.000,0.040,2594,2423,3881
$GC,1199,-1.40,-146.6,69.2,-5.3,120,1204,0.00,2.60,0.00,0.000,6,0.000,0.051,2594,998,3881
$GC,1397,-1.40,-146.6,80.2,-5.6,135,1401,0.00,2.53,0.00,0.000,4,0.000,0.041,2594,2420,3881
$GC,1549,-1.40,-146.6,88.4,-5.2,146,1553,0.00,2.58,0.00,0.000,6,0.000,0.051,2594,998,3881
$GC,1752,-1.40,-146.6,99.7,-5.9,162,1760,0.00,2.50,0.00,0.000,4,0.000,0.041,2594,2414,3881
$STATE,1764,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1764,begin apogee
$GC,1771,-0.42,0.0,100.5,5.5,163,1952,1.08,0.00,173.93,0.647,6,0.096,0.000,2809,2512,3281
$STATE,1954,end apogee,CONTROL_FINISHED_OK
$STATE,1954,begin climb
$GC,1956,1.40,146.6,102.4,0.0,178,2139,1.83,2.62,171.30,0.615,4,0.060,0.050,3206,1087,2683
$GC,2179,1.40,146.6,82.5,12.0,196,2184,0.00,2.55,0.00,0.000,6,0.000,0.041,3207,2507,2683
$GC,2375,1.40,146.6,60.3,11.3,211,2376,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2507,2683
$GC,2566,1.40,146.6,39.0,11.8,226,2568,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2507,2683
$GC,2756,1.40,146.6,18.0,10.6,242,2762,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2507,2682
$GC,2829,1.40,146.6,10.2,10.7,253,2835,0.00,2.58,0.00,0.000,4,0.000,0.049,3207,1086,2682
$GC,2875,1.40,146.6,4.3,12.7,260,2881,0.00,2.55,0.00,0.000,6,0.000,0.041,3207,2511,2682
$STATE,2892,end climb,SURFACE_DEPTH_REACHED
$STATE,2892,begin surface coast
$FINISH,0.4,1.016203
$STATE,2906,end surface coast,CONTROL_FINISHED_OK
$STATE,2906,begin surface
$SM_CCo,2939,111.70,0.575,0,0,1649,400.08
$SM_GC,0.77,0.00,0.00,111.70,0.000,0.000,0.575,133,995,1649,-12.75,-0.14,400.08
$IRIDIUM_FIX,4729.30,-11917.62,021007,202003
$TT8_MAMPS,0.070564
$HUMID,2152
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,19.60
$XPDR_PINGS,177
$24V_AH,23.9,32.855
$10V_AH,10.0,20.190
$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,32.375,41.400,345.225,111.700,0.000,80.310,89.654,281.191,44.750,37.360,3821.640,17.010,480.515,1541.547,538.961,520.049,659.005,33.339,866.691,0.000,492.872,0.000,4.065
$DEVICE_MAMPS,208.624,71.331,646.581,575.250,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,174.259,0.000,0.000,0.000,0.000,0.000,0.000,3859.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6473,265
$CFSIZE,260034560,252420096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,175221,4738.968,-12253.307,9,1.2,9,18.3