version: 66.02
glider: 116
mission: 6
dive: 106
start: 9 30 107 22 34 1
data:
$ID,116
$MISSION,6
$DIVE,106
$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,-31499.469
$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,13
$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
$GPS1,222629,4739.084,-12253.109,14,3.4,33,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-62.2
$GPS2,223251,4739.137,-12252.984,14,1.4,14,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.164,-0.181
$KALMAN_X,8256.6,227.7,443.9,-8473.3,26.0
$KALMAN_Y,7450.5,446.9,332.7,-7512.7,12.0
$MHEAD_RNG_PITCHd_Wd,203.9,663,-14.6,-8.333
$D_GRID,133
$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,27,begin dive
$GC,31,-1.40,-146.6,0.0,0.0,0,110,0.00,0.00,-76.78,0.000,2,0.000,0.000,136,1012,3281
$GC,113,-1.40,-146.6,2.1,-4.7,13,157,15.90,2.50,-20.00,0.000,4,0.212,0.053,2593,2420,3880
$GC,230,-1.40,-146.6,8.4,-6.4,31,236,0.00,2.58,0.00,0.000,6,0.000,0.050,2593,999,3881
$GC,303,-1.40,-146.6,14.0,-8.2,42,309,0.00,2.53,0.00,0.000,4,0.000,0.042,2593,2422,3882
$GC,382,-1.40,-146.6,19.7,-7.0,54,389,0.00,2.60,0.00,0.000,6,0.000,0.051,2593,994,3881
$GC,454,-1.40,-146.6,24.7,-7.1,60,458,0.00,2.53,0.00,0.000,4,0.000,0.042,2593,2418,3881
$GC,540,-1.40,-146.6,30.5,-6.5,66,544,0.00,2.60,0.00,0.000,6,0.000,0.051,2593,991,3881
$GC,736,-1.40,-146.6,43.7,-6.5,81,740,0.00,2.53,0.00,0.000,4,0.000,0.041,2593,2416,3881
$GC,993,-1.40,-146.6,61.8,-7.7,100,998,0.00,2.58,0.00,0.000,6,0.000,0.051,2592,999,3881
$GC,1189,-1.40,-146.6,76.0,-7.1,115,1193,0.00,2.50,0.00,0.000,4,0.000,0.041,2593,2415,3881
$GC,1322,-1.40,-146.6,84.9,-6.6,124,1328,0.00,2.58,0.00,0.000,6,0.000,0.052,2593,998,3881
$GC,1518,-1.40,-146.6,98.7,-7.2,140,1522,0.00,2.53,0.00,0.000,4,0.000,0.041,2593,2422,3881
$STATE,1537,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1537,begin apogee
$GC,1544,-0.42,0.0,100.1,7.1,141,1724,1.05,0.00,173.23,0.647,6,0.098,0.000,2806,2516,3281
$STATE,1725,end apogee,CONTROL_FINISHED_OK
$STATE,1725,begin climb
$GC,1728,1.40,146.6,102.9,0.0,156,1909,1.83,2.65,171.27,0.619,4,0.061,0.051,3210,1087,2683
$GC,1934,1.40,146.6,85.8,10.8,173,1941,0.00,2.58,0.00,0.000,6,0.000,0.041,3210,2501,2682
$GC,2131,1.40,146.6,64.2,11.3,189,2132,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2501,2682
$GC,2322,1.40,146.6,42.6,11.4,204,2327,0.00,2.62,0.00,0.000,4,0.000,0.075,3209,3889,2682
$GC,2427,1.40,146.6,29.8,12.2,211,2434,0.00,2.50,0.00,0.000,6,0.000,0.038,3210,2495,2684
$GC,2628,1.40,146.6,9.2,9.6,235,2634,0.00,2.50,0.00,0.000,4,0.000,0.052,3209,1103,2682
$GC,2661,1.40,146.6,6.3,9.0,240,2667,0.00,2.50,0.00,0.000,6,0.000,0.042,3210,2511,2682
$STATE,2711,end climb,SURFACE_DEPTH_REACHED
$STATE,2711,begin surface coast
$FINISH,0.6,1.020887
$STATE,2741,end surface coast,CONTROL_FINISHED_OK
$STATE,2741,begin surface
$SM_CCo,2771,113.80,0.582,0,0,1650,400.08
$SM_GC,0.73,0.00,0.00,113.80,0.000,0.000,0.582,134,1007,1650,-12.75,0.20,400.08
$IRIDIUM_FIX,4719.74,-12356.46,011007,010157
$TT8_MAMPS,0.066729
$HUMID,2123
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,19.70
$XPDR_PINGS,158
$24V_AH,23.9,27.677
$10V_AH,10.1,16.874
$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,33.050,46.325,344.500,113.800,0.000,39.057,38.927,169.384,40.000,19.140,3388.860,14.452,463.107,1360.008,560.230,484.054,429.160,33.326,862.061,0.000,466.146,0.000,4.055
$DEVICE_MAMPS,212.459,75.166,647.348,582.153,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,165.170,0.000,0.000,0.000,0.000,0.000,0.000,3408.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6454,252
$CFSIZE,260034560,253911040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,232314,4738.905,-12253.237,14,1.7,31,18.3