version: 66.02
glider: 116
mission: 6
dive: 75
start: 9 29 107 6 25 33
data:
$ID,116
$MISSION,6
$DIVE,75
$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,-30765.762
$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,18
$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
$GPS1,061445,4739.035,-12253.435,10,1.2,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-66.7
$GPS2,062423,4739.043,-12253.385,11,3.2,30,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.014,-0.242
$KALMAN_X,3803.2,131.2,111.6,-4085.6,96.5
$KALMAN_Y,2639.8,294.1,28.8,-2414.6,254.2
$MHEAD_RNG_PITCHd_Wd,164.9,332,-14.8,-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,-1.41,-143.9,0.0,0.0,0,110,0.00,0.00,-78.47,0.000,2,0.000,0.000,138,1009,3339
$GC,113,-1.41,-146.6,2.1,-5.0,13,156,15.98,1.73,-18.33,0.000,4,0.215,0.117,2592,166,3880
$GC,342,-1.41,-146.6,16.0,-6.5,48,348,0.00,1.52,0.00,0.000,6,0.000,0.049,2592,1001,3881
$GC,421,-1.41,-146.6,21.1,-6.6,59,425,0.00,2.50,0.00,0.000,4,0.000,0.044,2592,2413,3881
$GC,499,-1.41,-146.6,26.0,-5.8,64,506,0.00,2.58,0.00,0.000,6,0.000,0.051,2592,999,3881
$GC,695,-1.41,-146.6,39.2,-6.8,80,700,0.00,2.53,0.00,0.000,4,0.000,0.043,2592,2421,3882
$GC,879,-1.41,-146.6,52.3,-7.4,93,886,0.00,2.60,0.00,0.000,6,0.000,0.052,2592,995,3882
$GC,1078,-1.41,-146.6,65.2,-6.2,109,1082,0.00,2.53,0.00,0.000,4,0.000,0.042,2592,2417,3881
$GC,1323,-1.41,-146.6,81.4,-6.5,127,1327,0.00,2.60,0.00,0.000,6,0.000,0.052,2592,999,3882
$GC,1518,-1.41,-146.6,95.6,-6.7,142,1523,0.00,2.53,0.00,0.000,4,0.000,0.042,2592,2422,3881
$STATE,1581,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1581,begin apogee
$GC,1588,-0.42,0.0,100.1,6.5,146,1767,1.05,0.00,172.20,0.645,6,0.095,0.000,2807,2517,3281
$STATE,1768,end apogee,CONTROL_FINISHED_OK
$STATE,1768,begin climb
$GC,1770,1.41,146.6,104.4,0.0,161,1954,1.85,0.00,171.25,0.616,6,0.058,0.000,3212,2516,2683
$GC,2144,1.41,146.6,71.3,10.4,191,2145,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2517,2683
$GC,2332,1.41,146.6,50.6,11.3,206,2336,0.00,2.60,0.00,0.000,4,0.000,0.077,3211,3887,2683
$GC,2419,1.41,146.6,40.3,11.7,212,2423,0.00,2.47,0.00,0.000,6,0.000,0.040,3211,2488,2682
$GC,2615,1.41,146.6,18.2,11.4,228,2621,0.00,2.50,0.00,0.000,4,0.000,0.054,3211,1104,2683
$GC,2635,1.41,146.6,16.0,11.5,231,2641,0.00,2.50,0.00,0.000,6,0.000,0.042,3212,2508,2682
$GC,2707,1.41,146.6,8.2,10.4,242,2713,0.00,2.60,0.00,0.000,4,0.000,0.072,3211,3895,2682
$STATE,2784,end climb,SURFACE_DEPTH_REACHED
$STATE,2786,begin surface coast
$FINISH,0.0,1.010617
$STATE,2825,end surface coast,CONTROL_FINISHED_OK
$STATE,2825,begin surface
$SM_CCo,2860,111.65,0.579,0,0,1649,400.08
$SM_GC,0.92,0.00,0.00,111.65,0.000,0.000,0.579,135,1007,1649,-12.75,0.20,400.08
$IRIDIUM_FIX,4722.92,-12251.79,290907,090915
$TT8_MAMPS,0.068263
$HUMID,2191
$INTERNAL_PRESSURE,11.4946
$TCM_TEMP,19.60
$XPDR_PINGS,168
$24V_AH,23.9,23.672
$10V_AH,10.1,13.879
$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,33.175,39.225,343.450,111.650,0.000,39.744,38.897,322.145,42.500,46.250,3576.750,31.519,473.697,1424.982,558.725,514.469,604.725,33.334,860.242,0.000,479.291,0.000,4.055
$DEVICE_MAMPS,214.760,116.584,645.047,579.085,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,170.905,0.000,0.000,0.000,0.000,0.000,0.000,3623.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6448,260
$CFSIZE,260034560,255021056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,071551,4738.861,-12253.284,10,1.4,10,18.3