version: 66.02
glider: 116
mission: 6
dive: 95
start: 9 30 107 11 53 49
data:
$ID,116
$MISSION,6
$DIVE,95
$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,-31286.275
$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,11
$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
$GPS1,114108,4739.771,-12252.278,36,0.9,36,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-61.1
$GPS2,115239,4739.917,-12252.149,14,1.4,14,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.028,-0.242
$KALMAN_X,5785.8,542.5,274.4,-5100.7,-613.2
$KALMAN_Y,4393.4,364.1,246.4,-2840.0,-313.5
$MHEAD_RNG_PITCHd_Wd,168.4,2442,-14.6,-8.333
$D_GRID,123
$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,-1.40,-146.6,0.0,0.0,0,110,0.00,0.00,-78.50,0.000,2,0.000,0.000,135,999,3317
$GC,113,-1.40,-146.6,2.2,-5.8,13,151,15.82,2.58,-16.58,0.000,4,0.210,0.052,2594,2418,3880
$GC,291,-1.40,-146.6,12.5,-4.2,40,297,0.00,2.60,0.00,0.000,6,0.000,0.052,2593,991,3881
$GC,364,-1.40,-146.6,16.9,-7.1,51,370,0.00,2.53,0.00,0.000,4,0.000,0.041,2593,2419,3881
$GC,410,-1.40,-146.6,19.6,-5.8,58,416,0.00,2.60,0.00,0.000,6,0.000,0.051,2593,991,3881
$GC,486,-1.40,-146.6,24.6,-6.9,65,488,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,991,3881
$GC,679,-1.40,-146.6,37.7,-7.2,80,683,0.00,2.53,0.00,0.000,4,0.000,0.041,2593,2420,3881
$GC,792,-1.40,-146.6,45.3,-5.5,88,796,0.00,2.60,0.00,0.000,6,0.000,0.051,2593,992,3881
$GC,987,-1.40,-146.6,58.7,-7.4,103,992,0.00,2.53,0.00,0.000,4,0.000,0.041,2593,2416,3882
$GC,1206,-1.40,-146.6,73.0,-6.9,119,1210,0.00,2.60,0.00,0.000,6,0.000,0.052,2593,1001,3882
$GC,1401,-1.40,-146.6,87.3,-6.6,134,1406,0.00,2.50,0.00,0.000,4,0.000,0.040,2593,2414,3881
$GC,1592,-1.40,-146.6,98.5,-6.9,148,1599,0.00,2.58,0.00,0.000,6,0.000,0.052,2593,997,3881
$STATE,1622,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1622,begin apogee
$GC,1631,-0.42,0.0,100.9,7.6,151,1811,1.05,0.00,173.15,0.653,6,0.094,0.000,2808,2512,3281
$STATE,1812,end apogee,CONTROL_FINISHED_OK
$STATE,1812,begin climb
$GC,1815,1.40,146.6,104.5,0.0,166,1998,1.85,2.70,170.95,0.622,4,0.060,0.077,3211,3883,2683
$GC,2110,1.40,146.6,76.5,12.5,189,2117,0.00,2.47,0.00,0.000,6,0.000,0.038,3211,2495,2683
$GC,2306,1.40,146.6,54.3,12.0,205,2307,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2492,2683
$GC,2498,1.40,146.6,33.4,10.7,220,2499,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2493,2682
$GC,2688,1.40,146.6,12.8,10.3,240,2694,0.00,2.65,0.00,0.000,4,0.000,0.072,3210,3891,2682
$GC,2716,1.40,146.6,9.6,11.9,244,2722,0.00,2.42,0.00,0.000,6,0.000,0.039,3211,2506,2682
$GC,2789,1.40,149.6,2.9,8.2,255,2796,0.00,2.67,2.05,0.735,4,0.000,0.071,3210,3889,2671
$STATE,2800,end climb,SURFACE_DEPTH_REACHED
$STATE,2800,begin surface coast
$FINISH,0.0,1.010840
$STATE,2828,end surface coast,CONTROL_FINISHED_OK
$STATE,2828,begin surface
$SM_CCo,2863,110.28,0.580,0,0,1649,400.08
$SM_GC,0.80,0.00,0.00,110.28,0.000,0.000,0.580,135,1003,1649,-12.74,0.08,400.08
$IRIDIUM_FIX,4722.92,-12253.53,300907,101050
$TT8_MAMPS,0.06903
$HUMID,2132
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,19.70
$XPDR_PINGS,153
$24V_AH,23.4,26.427
$10V_AH,10.1,16.058
$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,32.725,46.575,346.150,110.275,0.000,38.512,29.745,403.968,38.750,33.210,3778.790,14.201,479.224,1418.552,543.022,518.214,708.802,33.362,865.955,0.000,491.729,0.000,4.058
$DEVICE_MAMPS,210.158,76.700,734.786,579.852,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,171.450,0.000,0.000,0.000,0.000,0.000,0.000,3812.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6448,261
$CFSIZE,260034560,254242816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,124409,4739.658,-12252.274,10,1.7,10,18.3