version: 66.02
glider: 116
mission: 6
dive: 63
start: 9 28 107 18 40 53
data:
$ID,116
$MISSION,6
$DIVE,63
$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,-30528.193
$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,20
$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
$GPS1,182545,4738.896,-12252.679,14,1.8,15,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-66.2
$GPS2,183944,4738.978,-12252.516,15,1.8,32,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,S2
$TGT_LATLONG,4737.767,-12254.100
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.183,-0.161
$KALMAN_X,2765.1,323.5,118.2,-2165.3,317.8
$KALMAN_Y,932.0,56.1,77.2,-642.3,248.4
$MHEAD_RNG_PITCHd_Wd,210.4,2989,-14.6,-8.333
$D_GRID,128
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,30,-1.40,-146.6,0.0,0.0,0,98,0.00,0.00,-66.53,0.000,2,0.000,0.000,132,1004,3087
$GC,102,-1.40,-146.6,2.0,-5.3,11,145,15.85,0.00,-24.10,0.000,6,0.212,0.000,2595,1005,3880
$GC,212,-1.40,-146.6,9.0,-7.0,28,218,0.00,2.50,0.00,0.000,4,0.000,0.041,2595,2422,3881
$GC,424,-1.40,-146.6,22.4,-5.7,57,428,0.00,2.58,0.00,0.000,6,0.000,0.049,2595,999,3882
$GC,619,-1.40,-146.6,35.2,-6.9,72,623,0.00,2.50,0.00,0.000,4,0.000,0.041,2595,2421,3882
$GC,823,-1.40,-146.6,47.8,-6.2,87,830,0.00,2.58,0.00,0.000,6,0.000,0.051,2595,1000,3883
$GC,1021,-1.40,-146.6,60.9,-7.0,103,1026,0.00,2.50,0.00,0.000,4,0.000,0.041,2595,2417,3882
$GC,1200,-1.40,-146.6,72.9,-6.4,116,1204,0.00,2.58,0.00,0.000,6,0.000,0.051,2594,999,3882
$GC,1396,-1.40,-146.6,86.2,-6.7,131,1400,0.00,2.53,0.00,0.000,4,0.000,0.041,2595,2423,3882
$GC,1568,-1.40,-146.6,96.4,-5.4,144,1572,0.00,2.60,0.00,0.000,6,0.000,0.052,2595,993,3882
$STATE,1635,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1635,begin apogee
$GC,1644,-0.42,0.0,100.6,6.0,149,1822,1.05,0.00,171.75,0.647,6,0.095,0.000,2809,2509,3281
$STATE,1823,end apogee,CONTROL_FINISHED_OK
$STATE,1823,begin climb
$GC,1826,1.40,146.6,103.4,0.0,164,2009,1.83,2.72,169.82,0.617,4,0.058,0.077,3207,3890,2683
$GC,2077,1.40,146.6,82.4,11.5,184,2082,0.00,2.47,0.00,0.000,6,0.000,0.040,3208,2495,2683
$GC,2272,1.40,146.6,61.8,10.5,199,2277,0.00,2.53,0.00,0.000,4,0.000,0.054,3208,1099,2683
$GC,2305,1.40,146.6,58.3,11.1,201,2310,0.00,2.55,0.00,0.000,6,0.000,0.042,3207,2516,2682
$GC,2500,1.40,146.6,38.0,10.2,216,2505,0.00,2.60,0.00,0.000,4,0.000,0.074,3208,3895,2682
$GC,2532,1.40,146.6,34.4,11.4,218,2539,0.00,2.47,0.00,0.000,6,0.000,0.039,3208,2506,2682
$GC,2731,1.40,146.6,13.9,9.9,238,2737,0.00,2.53,0.00,0.000,4,0.000,0.054,3208,1107,2682
$GC,2757,1.40,146.6,11.3,9.9,242,2763,0.00,2.50,0.00,0.000,6,0.000,0.043,3208,2511,2682
$GC,2830,1.40,146.6,4.2,9.6,253,2836,0.00,2.58,0.00,0.000,4,0.000,0.072,3208,3890,2681
$STATE,2853,end climb,SURFACE_DEPTH_REACHED
$STATE,2853,begin surface coast
$FINISH,0.5,1.020795
$STATE,2874,end surface coast,CONTROL_FINISHED_OK
$STATE,2874,begin surface
$SM_CCo,2909,112.05,0.581,0,0,1649,400.08
$SM_GC,0.81,0.00,0.00,112.05,0.000,0.000,0.581,137,1010,1649,-12.73,0.28,400.08
$IRIDIUM_FIX,4722.92,-12251.79,280907,222257
$TT8_MAMPS,0.066729
$HUMID,2192
$INTERNAL_PRESSURE,11.4946
$TCM_TEMP,19.60
$XPDR_PINGS,134
$24V_AH,23.4,22.279
$10V_AH,10.0,12.981
$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,32.750,51.300,341.575,112.050,0.000,120.816,155.399,273.485,34.000,24.900,3943.100,32.417,482.232,1573.196,534.983,543.279,753.116,33.326,866.606,0.000,504.972,0.000,4.056
$DEVICE_MAMPS,212.459,76.700,647.348,580.619,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,170.965,0.000,0.000,0.000,0.000,0.000,0.000,3968.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6457,260
$CFSIZE,260034560,255385600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,193223,4738.855,-12252.802,11,2.6,31,18.3