version: 66.02
glider: 116
mission: 6
dive: 110
start: 10 1 107 1 53 37
data:
$ID,116
$MISSION,6
$DIVE,110
$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,-31615.117
$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,21
$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
$GPS1,014259,4738.923,-12253.360,12,4.3,31,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-60.7
$GPS2,015229,4739.026,-12253.141,15,4.2,34,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.180,-0.154
$KALMAN_X,9925.0,147.3,131.9,-9944.0,196.1
$KALMAN_Y,8622.5,152.5,48.4,-8312.3,80.6
$MHEAD_RNG_PITCHd_Wd,211.2,380,-15.2,-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,-1.44,-137.1,0.0,0.0,0,118,0.00,0.00,-84.62,0.000,2,0.000,0.000,133,1001,3511
$GC,121,-1.45,-146.6,2.1,-2.0,14,152,16.10,0.00,-10.18,0.000,6,0.218,0.000,2585,1001,3879
$GC,219,-1.45,-146.6,10.0,-6.3,29,225,0.00,2.50,0.00,0.000,4,0.000,0.041,2585,2417,3880
$GC,324,-1.45,-146.6,16.6,-6.5,45,331,0.00,2.58,0.00,0.000,6,0.000,0.051,2585,1000,3880
$GC,403,-1.45,-146.6,22.0,-7.0,55,404,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,1000,3880
$GC,594,-1.45,-146.6,35.2,-7.0,70,598,0.00,2.50,0.00,0.000,4,0.000,0.041,2586,2413,3881
$GC,791,-1.45,-146.6,48.5,-6.8,84,798,0.00,2.58,0.00,0.000,6,0.000,0.052,2585,996,3881
$GC,987,-1.45,-146.6,62.5,-7.3,100,992,0.00,2.50,0.00,0.000,4,0.000,0.041,2585,2412,3881
$GC,1145,-1.45,-146.6,72.9,-6.6,111,1152,0.00,2.58,0.00,0.000,6,0.000,0.052,2585,998,3881
$GC,1341,-1.45,-146.6,86.6,-6.9,127,1345,0.00,2.50,0.00,0.000,4,0.000,0.041,2585,2412,3881
$GC,1478,-1.45,-146.6,95.9,-7.5,137,1485,0.00,2.58,0.00,0.000,6,0.000,0.052,2585,998,3881
$STATE,1547,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1547,begin apogee
$GC,1556,-0.42,0.0,100.6,6.9,143,1735,1.10,0.00,173.20,0.647,6,0.100,0.000,2807,2510,3281
$STATE,1736,end apogee,CONTROL_FINISHED_OK
$STATE,1737,begin climb
$GC,1739,1.45,146.6,103.5,0.0,158,1918,1.88,0.00,171.85,0.616,6,0.060,0.000,3221,2510,2683
$GC,2107,1.45,146.6,67.7,12.3,188,2108,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,2510,2683
$GC,2294,1.45,146.6,45.4,11.4,203,2298,0.00,2.62,0.00,0.000,4,0.000,0.077,3220,3891,2683
$GC,2340,1.45,146.6,39.6,12.1,206,2344,0.00,2.47,0.00,0.000,6,0.000,0.040,3220,2492,2683
$GC,2536,1.45,146.6,16.6,11.1,223,2543,0.00,2.65,0.00,0.000,4,0.000,0.071,3220,3895,2683
$GC,2635,1.45,146.6,5.2,10.1,238,2641,0.00,2.42,0.00,0.000,6,0.000,0.039,3221,2510,2682
$STATE,2659,end climb,SURFACE_DEPTH_REACHED
$STATE,2659,begin surface coast
$FINISH,0.3,1.019169
$STATE,2673,end surface coast,CONTROL_FINISHED_OK
$STATE,2673,begin surface
$SM_CCo,2706,111.95,0.573,0,0,1650,400.08
$SM_GC,0.77,0.00,0.00,111.95,0.000,0.000,0.573,137,1011,1650,-12.73,0.31,400.08
$IRIDIUM_FIX,4719.74,-12254.47,011007,050515
$TT8_MAMPS,0.067496
$HUMID,2138
$INTERNAL_PRESSURE,11.4848
$TCM_TEMP,19.80
$XPDR_PINGS,142
$24V_AH,23.9,28.101
$10V_AH,10.1,17.134
$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,33.400,36.025,345.050,111.950,0.000,79.042,124.112,151.092,36.000,18.310,3504.690,35.280,443.153,1405.443,558.010,475.844,532.617,33.336,836.180,0.000,436.251,0.000,4.058
$DEVICE_MAMPS,217.828,77.467,646.581,572.949,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,159.907,0.000,0.000,0.000,0.000,0.000,0.000,3523.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6441,244
$CFSIZE,260034560,253796352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,024138,4738.907,-12253.400,26,1.5,26,18.3