version: 66.02
glider: 116
mission: 6
dive: 71
start: 9 29 107 2 25 57
data:
$ID,116
$MISSION,6
$DIVE,71
$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,-30692.139
$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
$GPS1,021838,4738.650,-12253.102,41,1.4,41,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-67.3
$GPS2,022445,4738.655,-12253.077,12,1.3,12,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.164,0.180
$KALMAN_X,3129.9,77.0,-223.6,-2646.7,111.8
$KALMAN_Y,1377.0,227.8,-91.9,-1686.0,-75.4
$MHEAD_RNG_PITCHd_Wd,299.3,507,-14.6,-8.333
$D_GRID,136
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-1.40,-146.6,0.0,0.0,0,102,0.00,0.00,-72.35,0.000,2,0.000,0.000,135,1012,3239
$GC,106,-1.40,-146.6,2.1,-4.9,12,155,15.88,1.75,-23.80,0.000,4,0.212,0.117,2595,162,3879
$GC,195,-1.40,-146.6,5.7,-6.9,26,201,0.00,1.52,0.00,0.000,6,0.000,0.049,2595,1000,3880
$GC,267,-1.40,-146.6,11.0,-7.9,37,274,0.00,2.50,0.00,0.000,4,0.000,0.043,2595,2414,3880
$GC,314,-1.40,-146.6,14.5,-7.2,44,320,0.00,2.58,0.00,0.000,6,0.000,0.051,2595,998,3880
$GC,386,-1.40,-146.6,20.3,-8.3,55,390,0.00,2.53,0.00,0.000,4,0.000,0.041,2595,2420,3881
$GC,432,-1.40,-146.6,24.0,-8.3,58,437,0.00,2.60,0.00,0.000,6,0.000,0.051,2595,992,3880
$GC,628,-1.40,-146.6,39.4,-7.6,73,632,0.00,2.53,0.00,0.000,4,0.000,0.041,2595,2416,3881
$GC,820,-1.40,-146.6,53.1,-7.0,87,824,0.00,2.58,0.00,0.000,6,0.000,0.052,2595,1000,3881
$GC,1016,-1.40,-146.6,67.5,-6.9,102,1020,0.00,2.53,0.00,0.000,4,0.000,0.041,2595,2422,3881
$GC,1168,-1.40,-146.6,76.7,-5.9,113,1172,0.00,2.58,0.00,0.000,6,0.000,0.052,2595,999,3881
$GC,1370,-1.40,-146.6,88.5,-5.5,129,1374,0.00,2.53,0.00,0.000,4,0.000,0.041,2595,2424,3881
$GC,1522,-1.40,-146.6,97.7,-7.0,140,1527,0.00,2.60,0.00,0.000,6,0.000,0.052,2595,997,3881
$STATE,1564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1564,begin apogee
$GC,1573,-0.42,0.0,100.7,7.0,143,1751,1.05,0.00,171.60,0.645,6,0.095,0.000,2809,2509,3281
$STATE,1752,end apogee,CONTROL_FINISHED_OK
$STATE,1752,begin climb
$GC,1754,1.40,146.6,103.1,0.0,158,1931,1.83,0.00,170.02,0.615,6,0.058,0.000,3209,2509,2684
$GC,2114,1.40,146.6,69.5,11.0,187,2115,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2509,2683
$GC,2305,1.40,146.6,47.7,12.0,202,2306,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2509,2682
$GC,2494,1.40,146.6,26.0,10.9,217,2495,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2509,2682
$GC,2688,1.42,161.4,6.9,7.8,242,2707,0.00,2.60,12.48,0.636,4,0.000,0.051,3209,1090,2621
$STATE,2738,end climb,SURFACE_DEPTH_REACHED
$STATE,2738,begin surface coast
$FINISH,0.8,1.020531
$STATE,2760,end surface coast,CONTROL_FINISHED_OK
$STATE,2760,begin surface
$SM_CCo,2787,105.60,0.577,0,0,1649,400.08
$SM_GC,0.84,0.00,0.00,105.60,0.000,0.000,0.577,133,986,1649,-12.76,-0.40,400.08
$IRIDIUM_FIX,4722.92,-12251.79,290907,050509
$TT8_MAMPS,0.067496
$HUMID,2182
$INTERNAL_PRESSURE,11.4946
$TCM_TEMP,19.70
$XPDR_PINGS,156
$24V_AH,23.9,23.186
$10V_AH,10.1,13.573
$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,32.600,34.350,354.100,105.600,0.000,41.276,32.534,166.731,39.500,46.250,3373.750,12.049,459.345,1395.638,529.594,489.965,416.701,33.326,839.572,0.000,469.460,0.000,4.054
$DEVICE_MAMPS,211.692,117.351,645.047,576.784,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,166.096,0.000,0.000,0.000,0.000,0.000,0.000,3420.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6454,253
$CFSIZE,260034560,255139840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,031457,4739.036,-12253.078,10,1.7,10,18.3