version: 66.02
glider: 116
mission: 6
dive: 107
start: 9 30 107 23 30 49
data:
$ID,116
$MISSION,6
$DIVE,107
$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,-31530.775
$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,14
$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
$GPS1,232314,4738.905,-12253.237,14,1.7,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-62.8
$GPS2,232941,4738.941,-12253.097,10,2.1,29,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.134,-0.053
$KALMAN_X,8560.3,185.9,404.1,-8835.4,5.6
$KALMAN_Y,7654.1,359.9,282.7,-7938.1,-20.4
$MHEAD_RNG_PITCHd_Wd,230.3,326,-27.0,-8.333
$D_GRID,136
$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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,30,-2.31,-48.0,0.0,0.0,0,104,0.00,0.00,-70.75,0.000,2,0.000,0.000,134,1007,3159
$GC,107,-2.34,-77.2,2.1,-4.9,12,144,15.07,2.55,-13.60,0.000,4,0.225,0.054,2389,2417,3596
$GC,173,-2.36,-93.7,6.5,-6.4,22,180,0.00,2.58,-1.67,0.000,6,0.000,0.049,2389,999,3663
$GC,249,-2.39,-118.4,9.9,-5.5,33,256,0.00,1.70,-2.03,0.000,4,0.000,0.117,2390,165,3766
$GC,508,-2.39,-118.4,39.2,-10.5,60,514,0.00,1.50,0.00,0.000,6,0.000,0.048,2390,997,3767
$GC,703,-2.39,-118.4,60.4,-11.0,76,707,0.00,2.50,0.00,0.000,4,0.000,0.042,2389,2413,3767
$GC,848,-2.39,-118.4,76.4,-10.5,86,854,0.00,2.58,0.00,0.000,6,0.000,0.052,2389,1000,3767
$GC,1044,-2.39,-118.4,97.8,-10.9,102,1048,0.00,2.50,0.00,0.000,4,0.000,0.041,2390,2419,3767
$STATE,1060,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1060,begin apogee
$GC,1067,-0.42,0.0,100.0,11.2,103,1212,2.17,0.00,140.35,0.650,6,0.130,0.000,2808,2514,3281
$STATE,1216,end apogee,CONTROL_FINISHED_OK
$STATE,1216,begin climb
$GC,1218,2.39,118.4,101.3,0.0,115,1366,2.80,0.00,137.82,0.622,6,0.058,0.000,3427,2514,2798
$GC,1554,2.39,118.4,47.2,19.5,142,1559,0.00,2.60,0.00,0.000,4,0.000,0.074,3427,3890,2798
$GC,1746,2.39,118.4,9.0,19.5,160,1752,0.00,2.45,0.00,0.000,6,0.000,0.040,3428,2498,2798
$STATE,1783,end climb,SURFACE_DEPTH_REACHED
$STATE,1783,begin surface coast
$FINISH,0.0,1.020838
$STATE,1791,end surface coast,CONTROL_FINISHED_OK
$STATE,1791,begin surface
$SM_CCo,1824,124.30,0.570,0,0,1649,400.08
$SM_GC,0.68,0.00,0.00,124.30,0.000,0.000,0.570,134,1009,1649,-12.75,0.25,400.08
$IRIDIUM_FIX,4719.74,-12251.79,011007,020238
$TT8_MAMPS,0.068263
$HUMID,2121
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,19.80
$XPDR_PINGS,97
$24V_AH,23.5,27.770
$10V_AH,10.1,16.929
$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,35.150,23.900,278.175,124.300,0.000,37.784,41.336,153.169,24.750,12.180,2446.820,30.677,318.184,807.326,482.498,363.277,391.020,33.325,705.429,0.000,325.301,0.000,4.055
$DEVICE_MAMPS,224.731,116.584,650.416,569.881,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,108.493,0.000,0.000,0.000,0.000,0.000,0.000,2459.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3301,167
$CFSIZE,260034560,253898752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,000409,4738.859,-12253.268,14,2.0,14,18.3