version: 66.02
glider: 116
mission: 6
dive: 102
start: 9 30 107 18 44 8
data:
$ID,116
$MISSION,6
$DIVE,102
$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,-31441.818
$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,17
$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
$GPS1,183617,4739.301,-12252.911,10,2.1,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-63.2
$GPS2,184259,4739.371,-12252.753,13,2.3,32,18.3
$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,7262.9,441.5,-0.3,-6960.3,224.1
$KALMAN_Y,6320.9,707.3,61.4,-5937.9,215.5
$MHEAD_RNG_PITCHd_Wd,203.9,1181,-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,-146.6,0.0,0.0,0,115,0.00,0.00,-82.72,0.000,2,0.000,0.000,133,1010,3407
$GC,118,-1.40,-146.6,2.1,-4.3,14,156,15.75,2.58,-16.42,0.000,4,0.209,0.054,2597,2422,3880
$GC,229,-1.40,-146.6,8.1,-5.9,31,236,0.00,2.58,0.00,0.000,6,0.000,0.051,2596,1002,3880
$GC,302,-1.40,-146.6,12.0,-5.5,42,308,0.00,2.53,0.00,0.000,4,0.000,0.043,2597,2422,3880
$GC,390,-1.40,-146.6,17.0,-5.8,55,397,0.00,2.60,0.00,0.000,6,0.000,0.051,2596,998,3880
$GC,462,-1.40,-146.6,21.7,-6.6,64,463,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,998,3880
$GC,653,-1.40,-146.6,34.8,-7.4,79,657,0.00,2.53,0.00,0.000,4,0.000,0.043,2596,2423,3881
$GC,804,-1.40,-146.6,45.4,-6.4,90,811,0.00,2.60,0.00,0.000,6,0.000,0.051,2596,994,3880
$GC,1001,-1.40,-146.6,60.4,-7.6,106,1005,0.00,2.53,0.00,0.000,4,0.000,0.041,2596,2418,3881
$GC,1166,-1.40,-146.6,72.2,-7.3,118,1170,0.00,2.58,0.00,0.000,6,0.000,0.051,2596,999,3880
$GC,1362,-1.40,-146.6,85.8,-6.5,133,1366,0.00,2.53,0.00,0.000,4,0.000,0.042,2596,2423,3880
$GC,1555,-1.40,-146.6,97.3,-5.9,147,1559,0.00,2.60,0.00,0.000,6,0.000,0.051,2596,993,3881
$STATE,1599,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1599,begin apogee
$GC,1608,-0.42,0.0,100.1,6.2,150,1788,1.02,0.00,173.05,0.649,6,0.094,0.000,2806,2519,3281
$STATE,1789,end apogee,CONTROL_FINISHED_OK
$STATE,1789,begin climb
$GC,1791,1.40,146.6,101.8,0.0,165,1975,1.85,0.00,171.07,0.620,6,0.060,0.000,3208,2519,2683
$GC,2165,1.40,146.6,66.4,10.5,195,2166,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2519,2683
$GC,2353,1.40,146.6,47.0,10.4,210,2354,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2519,2684
$GC,2542,1.40,146.6,26.3,11.2,225,2543,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2519,2683
$GC,2736,1.40,146.6,6.3,10.6,250,2742,0.00,2.60,0.00,0.000,4,0.000,0.077,3208,3891,2682
$STATE,2774,end climb,SURFACE_DEPTH_REACHED
$STATE,2774,begin surface coast
$FINISH,0.0,1.008875
$STATE,2786,end surface coast,CONTROL_FINISHED_OK
$STATE,2786,begin surface
$SM_CCo,2821,112.35,0.576,0,0,1650,400.08
$SM_GC,0.63,0.00,0.00,112.35,0.000,0.000,0.576,134,996,1650,-12.75,-0.11,400.08
$IRIDIUM_FIX,4722.92,-12254.47,300907,212151
$TT8_MAMPS,0.067496
$HUMID,2124
$INTERNAL_PRESSURE,11.4848
$TCM_TEMP,19.70
$XPDR_PINGS,169
$24V_AH,23.4,27.235
$10V_AH,10.1,16.582
$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,32.725,36.300,344.125,112.350,0.000,37.697,36.745,172.681,42.750,19.140,3451.860,33.025,469.907,1413.071,554.929,495.869,429.367,33.330,846.205,0.000,458.585,0.000,4.055
$DEVICE_MAMPS,209.391,76.700,648.882,576.017,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,169.572,0.000,0.000,0.000,0.000,0.000,0.000,3471.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6472,258
$CFSIZE,260034560,254038016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,193408,4739.264,-12252.920,29,1.8,29,18.3