version: 66.02
glider: 116
mission: 6
dive: 103
start: 9 30 107 19 41 49
data:
$ID,116
$MISSION,6
$DIVE,103
$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,-31458.084
$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
$GPS1,193408,4739.264,-12252.920,29,1.8,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-63.2
$GPS2,194039,4739.334,-12252.759,15,1.7,15,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.170,-0.175
$KALMAN_X,7497.1,381.7,189.1,-7330.2,176.1
$KALMAN_Y,6587.2,649.5,198.3,-6350.2,138.0
$MHEAD_RNG_PITCHd_Wd,206.0,1124,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,30,-1.40,-146.6,0.0,0.0,0,115,0.00,0.00,-82.72,0.000,2,0.000,0.000,134,996,3416
$GC,119,-1.40,-146.6,2.0,-3.2,14,156,15.62,2.58,-15.82,0.000,4,0.208,0.052,2595,2417,3880
$GC,296,-1.40,-146.6,11.7,-6.2,41,302,0.00,2.58,0.00,0.000,6,0.000,0.050,2595,996,3880
$GC,369,-1.40,-146.6,16.3,-6.5,52,374,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,997,3881
$GC,440,-1.40,-146.6,20.9,-6.6,62,445,0.00,2.53,0.00,0.000,4,0.000,0.041,2595,2423,3881
$GC,545,-1.40,-146.6,27.4,-6.3,69,552,0.00,2.60,0.00,0.000,6,0.000,0.051,2595,992,3880
$GC,741,-1.40,-146.6,40.3,-6.7,85,746,0.00,2.53,0.00,0.000,4,0.000,0.041,2595,2418,3881
$GC,874,-1.40,-146.6,48.6,-6.6,94,880,0.00,2.58,0.00,0.000,6,0.000,0.051,2594,999,3881
$GC,1070,-1.40,-146.6,61.5,-6.6,110,1074,0.00,2.53,0.00,0.000,4,0.000,0.041,2595,2422,3881
$GC,1249,-1.40,-146.6,73.2,-7.0,123,1253,0.00,2.60,0.00,0.000,6,0.000,0.052,2595,996,3881
$GC,1444,-1.40,-146.6,86.7,-6.8,138,1449,0.00,2.50,0.00,0.000,4,0.000,0.042,2595,2417,3880
$GC,1559,-1.40,-146.6,93.9,-6.3,146,1565,0.00,2.58,0.00,0.000,6,0.000,0.051,2595,998,3881
$STATE,1651,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1651,begin apogee
$GC,1660,-0.42,0.0,100.1,6.4,154,1840,1.05,0.00,173.45,0.648,6,0.097,0.000,2809,2511,3281
$STATE,1841,end apogee,CONTROL_FINISHED_OK
$STATE,1841,begin climb
$GC,1844,1.40,146.6,102.9,0.0,169,2028,1.83,2.62,171.50,0.619,4,0.061,0.051,3206,1093,2683
$GC,2054,1.40,146.6,86.9,10.2,186,2059,0.00,2.55,0.00,0.000,6,0.000,0.042,3206,2510,2683
$GC,2250,1.40,146.6,65.9,11.2,201,2254,0.00,2.62,0.00,0.000,4,0.000,0.077,3205,3890,2683
$GC,2308,1.40,146.6,58.7,12.9,205,2315,0.00,2.50,0.00,0.000,6,0.000,0.038,3206,2493,2682
$GC,2504,1.40,146.6,36.7,11.2,221,2505,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2492,2683
$GC,2695,1.40,146.6,15.8,10.6,238,2701,0.00,2.65,0.00,0.000,4,0.000,0.071,3205,3895,2683
$GC,2754,1.40,146.6,9.4,10.7,247,2760,0.00,2.45,0.00,0.000,6,0.000,0.039,3206,2498,2683
$STATE,2824,end climb,SURFACE_DEPTH_REACHED
$STATE,2824,begin surface coast
$FINISH,0.1,1.004689
$STATE,2839,end surface coast,CONTROL_FINISHED_OK
$STATE,2839,begin surface
$SM_CCo,2869,112.35,0.578,0,0,1649,400.08
$SM_GC,0.71,0.00,0.00,112.35,0.000,0.000,0.578,135,1015,1649,-12.74,0.42,400.08
$IRIDIUM_FIX,4722.92,-12253.53,300907,222224
$TT8_MAMPS,0.067496
$HUMID,2134
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,19.80
$XPDR_PINGS,173
$24V_AH,23.9,27.346
$10V_AH,10.1,16.656
$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,32.350,46.475,344.950,112.350,0.000,38.689,38.480,176.800,43.750,20.010,3490.990,15.634,474.625,1429.489,559.994,499.221,437.866,33.331,871.038,0.000,477.429,0.000,4.056
$DEVICE_MAMPS,207.857,76.700,648.115,577.551,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,170.595,0.000,0.000,0.000,0.000,0.000,0.000,3511.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6461,260
$CFSIZE,260034560,254005248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,203235,4739.218,-12252.965,8,4.3,27,18.3