version: 66.02
glider: 116
mission: 6
dive: 100
start: 9 30 107 16 47 46
data:
$ID,116
$MISSION,6
$DIVE,100
$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,-31393.877
$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,17
$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
$GPS1,163927,4739.258,-12252.946,13,2.0,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-63.0
$GPS2,164637,4739.355,-12252.758,13,1.4,29,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.164,-0.181
$KALMAN_X,6758.9,490.1,-268.5,-6243.4,177.4
$KALMAN_Y,5632.5,696.5,-81.4,-5128.6,161.8
$MHEAD_RNG_PITCHd_Wd,203.9,1154,-14.6,-8.333
$D_GRID,125
$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,29,-1.40,-146.6,0.0,0.0,0,111,0.00,0.00,-78.65,0.000,2,0.000,0.000,137,1005,3321
$GC,114,-1.40,-146.6,2.2,-5.6,13,157,15.77,2.58,-17.62,0.000,4,0.211,0.053,2596,2417,3879
$GC,231,-1.40,-146.6,8.4,-5.5,31,237,0.00,2.58,0.00,0.000,6,0.000,0.051,2596,1000,3880
$GC,303,-1.40,-146.6,12.1,-5.1,42,309,0.00,2.53,0.00,0.000,4,0.000,0.042,2597,2422,3880
$GC,376,-1.40,-146.6,16.6,-6.4,53,383,0.00,2.58,0.00,0.000,6,0.000,0.051,2596,1000,3881
$GC,448,-1.40,-146.6,22.4,-8.1,62,452,0.00,2.53,0.00,0.000,4,0.000,0.041,2597,2422,3880
$GC,481,-1.40,-146.6,24.8,-7.5,64,486,0.00,2.60,0.00,0.000,6,0.000,0.051,2597,998,3881
$GC,677,-1.40,-146.6,40.1,-8.2,79,681,0.00,2.53,0.00,0.000,4,0.000,0.041,2596,2420,3881
$GC,828,-1.40,-146.6,51.0,-6.7,90,833,0.00,2.60,0.00,0.000,6,0.000,0.051,2597,993,3881
$GC,1024,-1.40,-146.6,65.6,-7.4,105,1028,0.00,2.53,0.00,0.000,4,0.000,0.041,2596,2417,3881
$GC,1189,-1.40,-146.6,77.4,-7.0,117,1194,0.00,2.60,0.00,0.000,6,0.000,0.052,2596,992,3881
$GC,1385,-1.40,-146.6,91.2,-7.2,132,1389,0.00,2.53,0.00,0.000,4,0.000,0.041,2596,2417,3881
$STATE,1516,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1516,begin apogee
$GC,1523,-0.42,0.0,100.3,6.8,141,1702,1.02,0.00,173.38,0.648,6,0.094,0.000,2806,2514,3281
$STATE,1703,end apogee,CONTROL_FINISHED_OK
$STATE,1704,begin climb
$GC,1706,1.40,146.6,104.2,0.0,156,1885,1.83,0.00,171.50,0.621,6,0.060,0.000,3210,2515,2683
$GC,2074,1.40,146.6,68.2,12.7,186,2078,0.00,2.62,0.00,0.000,4,0.000,0.077,3210,3890,2683
$GC,2125,1.40,146.6,61.0,13.3,189,2132,0.00,2.50,0.00,0.000,6,0.000,0.039,3210,2491,2683
$GC,2322,1.40,146.6,39.5,10.3,205,2323,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2490,2683
$GC,2515,1.40,146.6,19.4,10.9,220,2520,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2490,2683
$GC,2587,1.40,146.6,11.8,9.3,231,2592,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2490,2683
$GC,2658,1.40,146.6,3.7,10.8,242,2664,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2489,2683
$STATE,2669,end climb,SURFACE_DEPTH_REACHED
$STATE,2669,begin surface coast
$FINISH,0.0,1.021525
$STATE,2683,end surface coast,CONTROL_FINISHED_OK
$STATE,2683,begin surface
$SM_CCo,2716,112.10,0.577,0,0,1650,400.08
$SM_GC,0.72,0.00,0.00,112.10,0.000,0.000,0.577,133,1003,1650,-12.75,0.08,400.08
$IRIDIUM_FIX,4722.92,-12253.53,300907,191940
$TT8_MAMPS,0.066729
$HUMID,2134
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,19.70
$XPDR_PINGS,136
$24V_AH,23.9,27.014
$10V_AH,9.9,16.431
$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,32.675,36.200,344.875,112.100,0.000,38.429,44.933,195.276,34.500,19.140,3350.860,29.541,449.857,1333.230,563.643,479.243,459.790,33.327,849.311,0.000,440.973,0.000,4.056
$DEVICE_MAMPS,210.925,77.467,648.115,576.784,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,161.206,0.000,0.000,0.000,0.000,0.000,0.000,3370.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6439,246
$CFSIZE,260034560,254095360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,173544,4739.318,-12252.933,8,1.6,13,18.3