version: 66.02
glider: 116
mission: 6
dive: 88
start: 9 29 107 19 4 34
data:
$ID,116
$MISSION,6
$DIVE,88
$D_SURF,2
$D_FLARE,2
$D_TGT,150
$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,310
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,14400
$USE_BATHY,0
$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,-31076.119
$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,15
$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
$GPS1,185625,4738.948,-12253.352,37,1.7,37,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-66.0
$GPS2,190339,4739.024,-12253.237,16,1.8,16,18.3
$SPEED_LIMITS,0.217,0.279
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.136,-0.226
$KALMAN_X,3241.1,-198.8,-134.3,-2766.6,209.3
$KALMAN_Y,2735.0,-180.8,-120.5,-1927.3,257.3
$MHEAD_RNG_PITCHd_Wd,192.8,315,-22.6,-12.500
$D_GRID,150
$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,-2.04,-130.1,0.0,0.0,0,98,0.00,0.00,-66.55,0.000,2,0.000,0.000,133,1007,3125
$GC,102,-2.06,-146.6,2.3,-5.4,11,151,14.80,2.53,-25.02,0.000,4,0.209,0.053,2451,2410,3879
$GC,191,-2.06,-146.6,8.0,-10.5,25,198,0.00,2.58,0.00,0.000,6,0.000,0.052,2451,998,3880
$GC,264,-2.06,-146.6,15.9,-11.4,36,270,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,997,3880
$GC,342,-2.06,-146.6,25.1,-12.0,45,346,0.00,2.53,0.00,0.000,4,0.000,0.041,2451,2423,3880
$GC,420,-2.06,-146.6,33.8,-10.8,50,426,0.00,2.60,0.00,0.000,6,0.000,0.051,2451,994,3880
$GC,616,-2.06,-146.6,55.7,-11.2,66,620,0.00,2.53,0.00,0.000,4,0.000,0.041,2451,2417,3880
$GC,695,-2.06,-146.6,64.2,-10.8,71,701,0.00,2.58,0.00,0.000,6,0.000,0.051,2451,999,3882
$GC,891,-2.06,-146.6,86.1,-10.8,87,895,0.00,2.50,0.00,0.000,4,0.000,0.040,2451,2415,3880
$GC,937,-2.06,-146.6,91.2,-11.3,90,941,0.00,2.60,0.00,0.000,6,0.000,0.052,2451,999,3880
$GC,1133,-2.06,-146.6,113.4,-11.2,105,1137,0.00,2.50,0.00,0.000,4,0.000,0.041,2451,2415,3880
$GC,1277,-2.06,-146.6,129.6,-10.7,115,1285,0.00,2.60,0.00,0.000,6,0.000,0.053,2451,991,3880
$STATE,1472,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1472,begin apogee
$GC,1480,-0.42,0.0,150.7,11.0,131,1662,1.80,0.00,174.38,0.673,6,0.116,0.000,2808,2516,3281
$STATE,1663,end apogee,CONTROL_FINISHED_OK
$STATE,1663,begin climb
$GC,1666,2.06,146.6,152.0,0.0,146,1849,2.45,2.65,171.57,0.642,4,0.054,0.051,3358,1088,2683
$GC,1876,2.06,146.6,127.2,18.2,163,1881,0.00,2.58,0.00,0.000,6,0.000,0.042,3358,2517,2683
$GC,2072,2.06,146.6,93.1,17.3,178,2076,0.00,2.60,0.00,0.000,4,0.000,0.074,3357,3895,2683
$GC,2198,2.06,146.6,70.0,18.2,187,2204,0.00,2.47,0.00,0.000,6,0.000,0.038,3357,2487,2682
$GC,2393,2.06,146.6,36.4,17.0,203,2397,0.00,2.65,0.00,0.000,4,0.000,0.069,3358,3890,2683
$GC,2459,2.06,146.6,25.0,16.6,208,2463,0.00,2.42,0.00,0.000,6,0.000,0.038,3358,2506,2683
$STATE,2606,end climb,SURFACE_DEPTH_REACHED
$STATE,2606,begin surface coast
$FINISH,0.2,1.020538
$STATE,2621,end surface coast,CONTROL_FINISHED_OK
$STATE,2621,begin surface
$SM_CCo,2654,112.57,0.578,0,0,1650,400.08
$SM_GC,0.95,0.00,0.00,112.57,0.000,0.000,0.578,133,1007,1650,-12.76,0.20,400.08
$IRIDIUM_FIX,4722.92,-12251.79,290907,191907
$TT8_MAMPS,0.067496
$HUMID,2163
$INTERNAL_PRESSURE,11.4848
$TCM_TEMP,19.90
$XPDR_PINGS,148
$24V_AH,23.4,25.240
$10V_AH,10.1,14.847
$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,33.750,46.425,345.950,112.575,0.000,39.740,38.198,204.491,38.750,41.230,3298.770,16.161,427.483,1311.167,540.302,471.634,451.469,33.350,844.272,0.000,442.956,0.000,11.865
$DEVICE_MAMPS,208.624,73.632,673.426,578.318,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,149.851,0.000,0.000,0.000,0.000,0.000,0.000,3340.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6454,229
$CFSIZE,260034560,254619648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,195147,4738.817,-12253.391,10,2.9,29,18.3