version: 66.02
glider: 116
mission: 6
dive: 109
start: 10 1 107 1 1 25
data:
$ID,116
$MISSION,6
$DIVE,109
$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,-31579.209
$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,16
$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
$GPS1,005322,4738.917,-12253.276,7,2.1,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-62.4
$GPS2,010017,4738.984,-12253.103,15,2.3,34,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.191,-0.091
$KALMAN_X,9435.2,145.2,228.8,-9502.4,176.6
$KALMAN_Y,8185.1,220.0,144.1,-8114.8,7.0
$MHEAD_RNG_PITCHd_Wd,226.2,360,-17.6,-8.333
$D_GRID,134
$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,31,-1.60,-106.7,0.0,0.0,0,116,0.00,0.00,-82.72,0.000,2,0.000,0.000,134,1009,3486
$GC,119,-1.65,-146.6,2.3,-2.8,14,151,16.02,2.58,-9.90,0.000,4,0.222,0.055,2540,2419,3879
$GC,178,-1.65,-146.6,9.5,-9.0,23,184,0.00,2.60,0.00,0.000,6,0.000,0.051,2540,995,3880
$GC,251,-1.65,-146.6,14.4,-6.9,34,257,0.00,2.53,0.00,0.000,4,0.000,0.042,2540,2417,3880
$GC,271,-1.65,-146.6,16.0,-7.5,37,277,0.00,2.58,0.00,0.000,6,0.000,0.051,2539,1000,3880
$GC,343,-1.65,-146.6,21.3,-7.6,47,344,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,1001,3880
$GC,534,-1.65,-146.6,36.8,-8.1,62,538,0.00,2.53,0.00,0.000,4,0.000,0.041,2539,2423,3881
$GC,677,-1.65,-146.6,47.6,-8.2,72,681,0.00,2.60,0.00,0.000,6,0.000,0.051,2540,997,3881
$GC,873,-1.65,-146.6,64.6,-8.3,87,877,0.00,2.55,0.00,0.000,4,0.000,0.041,2540,2425,3881
$GC,1016,-1.65,-146.6,76.8,-8.3,97,1023,0.00,2.62,0.00,0.000,6,0.000,0.051,2540,999,3881
$GC,1215,-1.65,-146.6,93.0,-8.5,113,1219,0.00,2.53,0.00,0.000,4,0.000,0.041,2540,2424,3881
$STATE,1299,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1299,begin apogee
$GC,1305,-0.42,0.0,100.1,8.0,119,1485,1.35,0.00,173.15,0.644,6,0.109,0.000,2808,2519,3282
$STATE,1486,end apogee,CONTROL_FINISHED_OK
$STATE,1486,begin climb
$GC,1489,1.65,146.6,102.4,0.0,134,1671,2.08,2.67,170.27,0.614,4,0.060,0.078,3261,3877,2683
$GC,1717,1.65,146.6,78.5,14.5,152,1724,0.00,2.47,0.00,0.000,6,0.000,0.038,3261,2499,2683
$GC,1913,1.65,146.6,52.6,13.4,168,1918,0.00,2.62,0.00,0.000,4,0.000,0.072,3260,3885,2683
$GC,1986,1.65,146.6,42.3,14.2,173,1990,0.00,2.42,0.00,0.000,6,0.000,0.039,3261,2508,2683
$GC,2183,1.65,146.6,15.3,14.5,190,2189,0.00,2.60,0.00,0.000,4,0.000,0.071,3261,3889,2683
$GC,2262,1.65,146.6,2.5,16.1,202,2269,0.00,2.42,0.00,0.000,6,0.000,0.039,3260,2511,2683
$STATE,2273,end climb,SURFACE_DEPTH_REACHED
$STATE,2273,begin surface coast
$FINISH,0.0,1.009267
$STATE,2281,end surface coast,CONTROL_FINISHED_OK
$STATE,2281,begin surface
$SM_CCo,2313,111.50,0.568,0,0,1649,400.08
$SM_GC,0.74,0.00,0.00,111.50,0.000,0.000,0.568,133,1002,1649,-12.75,0.06,400.08
$IRIDIUM_FIX,4719.74,-12254.47,011007,040411
$TT8_MAMPS,0.066729
$HUMID,2137
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,19.80
$XPDR_PINGS,108
$24V_AH,23.5,27.988
$10V_AH,10.1,17.059
$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,33.825,41.300,343.425,111.500,0.000,37.919,35.328,185.217,27.500,15.660,2958.340,35.215,381.112,1081.902,533.749,439.545,431.981,33.330,813.909,0.000,397.070,0.000,4.055
$DEVICE_MAMPS,222.430,78.234,643.513,567.580,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,133.406,0.000,0.000,0.000,0.000,0.000,0.000,2974.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6445,205
$CFSIZE,260034560,253829120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,014259,4738.923,-12253.360,12,4.3,31,18.3