version: 66.02
glider: 116
mission: 6
dive: 89
start: 9 29 107 19 59 4
data:
$ID,116
$MISSION,6
$DIVE,89
$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,-31109.85
$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
$GPS1,195147,4738.817,-12253.391,10,2.9,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-66.3
$GPS2,195811,4738.871,-12253.286,13,2.5,32,18.3
$SPEED_LIMITS,0.217,0.279
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.160,-0.145
$KALMAN_X,3298.2,-173.3,41.9,-3084.8,119.9
$KALMAN_Y,2777.1,-153.8,73.8,-2467.9,154.1
$MHEAD_RNG_PITCHd_Wd,209.5,59,-27.5,-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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,30,-2.40,-88.0,0.0,0.0,0,98,0.00,0.00,-64.75,0.000,2,0.000,0.000,133,1007,3088
$GC,101,-2.48,-146.6,2.2,-5.1,11,151,14.27,2.50,-28.58,0.000,4,0.210,0.051,2359,2421,3879
$GC,184,-2.48,-146.6,7.5,-12.7,24,190,0.00,2.58,0.00,0.000,6,0.000,0.050,2360,1001,3879
$GC,257,-2.48,-146.6,16.9,-13.2,35,262,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1000,3879
$GC,333,-2.48,-146.6,27.1,-13.8,43,337,0.00,2.50,0.00,0.000,4,0.000,0.040,2359,2416,3880
$GC,418,-2.48,-146.6,38.9,-13.9,49,423,0.00,2.58,0.00,0.000,6,0.000,0.050,2360,999,3880
$GC,614,-2.48,-146.6,66.1,-13.5,64,618,0.00,2.53,0.00,0.000,4,0.000,0.040,2359,2423,3880
$GC,652,-2.48,-146.6,71.1,-12.9,66,659,0.00,2.60,0.00,0.000,6,0.000,0.051,2359,994,3880
$GC,848,-2.48,-146.6,98.1,-14.8,82,853,0.00,2.53,0.00,0.000,4,0.000,0.041,2359,2423,3880
$GC,907,-2.48,-146.6,106.4,-14.8,86,911,0.00,2.60,0.00,0.000,6,0.000,0.052,2359,994,3880
$GC,1102,-2.48,-146.6,134.6,-13.5,101,1107,0.00,2.53,0.00,0.000,4,0.000,0.041,2359,2422,3880
$GC,1175,-2.48,-146.6,144.1,-12.7,106,1179,0.00,2.60,0.00,0.000,6,0.000,0.051,2359,992,3880
$STATE,1219,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1219,begin apogee
$GC,1228,-0.42,0.0,150.1,13.5,109,1409,2.35,0.00,174.12,0.671,6,0.128,0.000,2812,2519,3281
$STATE,1411,end apogee,CONTROL_FINISHED_OK
$STATE,1411,begin climb
$GC,1413,2.48,146.6,153.4,0.0,124,1597,2.80,2.60,172.50,0.638,4,0.049,0.077,3451,3881,2682
$GC,1677,2.48,146.6,111.1,22.4,145,1682,0.00,2.47,0.00,0.000,6,0.000,0.039,3451,2487,2683
$GC,1873,2.48,146.6,68.7,21.4,160,1877,0.00,2.65,0.00,0.000,4,0.000,0.070,3451,3891,2682
$GC,1972,2.48,146.6,46.3,22.4,167,1976,0.00,2.45,0.00,0.000,6,0.000,0.039,3451,2498,2682
$GC,2171,2.48,146.6,6.2,19.6,187,2177,0.00,2.60,0.00,0.000,4,0.000,0.067,3451,3890,2682
$STATE,2188,end climb,SURFACE_DEPTH_REACHED
$STATE,2188,begin surface coast
$FINISH,0.9,1.020547
$STATE,2195,end surface coast,CONTROL_FINISHED_OK
$STATE,2196,begin surface
$SM_CCo,2231,115.12,0.571,0,0,1650,400.08
$SM_GC,0.95,0.00,0.00,115.12,0.000,0.000,0.571,133,1005,1650,-12.75,0.17,400.08
$IRIDIUM_FIX,4722.92,-12256.21,290907,222252
$TT8_MAMPS,0.06903
$HUMID,2143
$INTERNAL_PRESSURE,11.4848
$TCM_TEMP,19.90
$XPDR_PINGS,113
$24V_AH,23.4,25.354
$10V_AH,10.0,14.910
$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,34.725,46.325,346.625,115.125,0.000,32.775,48.390,151.577,30.000,35.340,2806.660,33.101,359.945,1039.783,552.063,407.098,383.832,33.346,812.821,0.000,365.286,0.000,11.853
$DEVICE_MAMPS,210.158,76.700,671.125,571.415,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,124.144,0.000,0.000,0.000,0.000,0.000,0.000,2842.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6452,191
$CFSIZE,260034560,254595072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,203902,4738.711,-12253.518,9,1.5,14,18.3