version: 66.02
glider: 116
mission: 6
dive: 159
start: 10 2 107 20 0 49
data:
$ID,116
$MISSION,6
$DIVE,159
$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,-32696.756
$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,14
$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
$GPS1,195223,4739.076,-12253.080,15,3.3,34,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-65.2
$GPS2,195939,4739.172,-12252.868,14,1.5,14,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.164,-0.181
$KALMAN_X,26437.8,688.0,91.2,-26618.5,218.1
$KALMAN_Y,20547.8,667.2,-8.0,-20424.8,261.8
$MHEAD_RNG_PITCHd_Wd,204.0,810,-14.6,-8.333
$D_GRID,127
$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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,31,-1.40,-146.6,0.0,0.0,0,111,0.00,0.00,-78.20,0.000,2,0.000,0.000,137,995,3301
$GC,115,-1.40,-146.6,2.2,-5.3,13,159,15.55,2.53,-20.67,0.000,4,0.204,0.052,2594,2416,3879
$GC,325,-1.40,-146.6,11.8,-5.7,45,331,0.00,2.60,0.00,0.000,6,0.000,0.049,2594,991,3879
$GC,398,-1.40,-146.6,15.6,-5.8,56,404,0.00,2.53,0.00,0.000,4,0.000,0.041,2594,2414,3879
$GC,495,-1.40,-146.6,20.7,-5.5,70,499,0.00,2.58,0.00,0.000,6,0.000,0.050,2594,999,3880
$GC,691,-1.40,-146.6,33.3,-6.4,85,695,0.00,2.53,0.00,0.000,4,0.000,0.041,2594,2423,3880
$GC,804,-1.40,-146.6,40.5,-6.6,93,808,0.00,2.60,0.00,0.000,6,0.000,0.050,2594,999,3880
$GC,1000,-1.40,-146.6,53.1,-6.5,108,1004,0.00,2.50,0.00,0.000,4,0.000,0.041,2594,2414,3880
$GC,1144,-1.40,-146.6,62.2,-6.7,118,1151,0.00,2.58,0.00,0.000,6,0.000,0.051,2594,998,3880
$GC,1341,-1.40,-146.6,76.2,-6.8,134,1345,0.00,2.50,0.00,0.000,4,0.000,0.040,2594,2414,3879
$GC,1493,-1.40,-146.6,85.3,-5.2,145,1497,0.00,2.65,0.00,0.000,6,0.000,0.050,2593,1001,3880
$GC,1696,-1.40,-146.6,96.1,-5.4,161,1700,0.00,2.50,0.00,0.000,4,0.000,0.041,2594,2414,3880
$STATE,1768,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1768,begin apogee
$GC,1775,-0.42,0.0,100.1,5.6,166,1955,1.05,0.00,173.57,0.648,6,0.098,0.000,2805,2513,3281
$STATE,1957,end apogee,CONTROL_FINISHED_OK
$STATE,1957,begin climb
$GC,1960,1.40,146.6,103.5,0.0,181,2144,1.85,0.00,172.10,0.617,6,0.060,0.000,3208,2513,2683
$GC,2330,1.40,146.6,67.6,11.6,211,2331,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2513,2683
$GC,2522,1.40,146.6,46.3,11.1,226,2523,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2512,2683
$GC,2711,1.40,146.6,25.5,10.8,241,2712,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2513,2682
$GC,2904,1.40,146.6,2.9,14.7,266,2911,0.00,2.60,0.00,0.000,4,0.000,0.075,3208,3889,2682
$STATE,2915,end climb,SURFACE_DEPTH_REACHED
$STATE,2915,begin surface coast
$FINISH,0.2,1.009792
$STATE,2931,end surface coast,CONTROL_FINISHED_OK
$STATE,2931,begin surface
$SM_CCo,2967,111.93,0.574,0,0,1649,400.08
$SM_GC,0.86,0.00,0.00,111.93,0.000,0.000,0.574,134,992,1649,-12.75,-0.23,400.08
$IRIDIUM_FIX,4719.74,-12250.06,021007,222233
$TT8_MAMPS,0.066729
$HUMID,2131
$INTERNAL_PRESSURE,11.4653
$TCM_TEMP,19.70
$XPDR_PINGS,177
$24V_AH,23.9,33.209
$10V_AH,10.1,20.421
$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,32.550,36.125,345.675,111.925,0.000,40.564,35.121,208.491,44.750,37.350,3611.650,14.871,489.478,1512.912,543.416,505.269,491.818,33.342,855.243,0.000,484.234,0.000,4.056
$DEVICE_MAMPS,204.022,75.166,648.115,574.483,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,177.846,0.000,0.000,0.000,0.000,0.000,0.000,3649.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6425,270
$CFSIZE,260034560,252325888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,205316,4739.103,-12253.024,10,4.0,29,18.3