version: 66.02
glider: 116
mission: 6
dive: 112
start: 10 1 107 3 34 7
data:
$ID,116
$MISSION,6
$DIVE,112
$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,-31647.316
$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
$GPS1,032507,4738.893,-12253.287,13,2.0,23,18.3
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-63.9
$GPS2,033257,4738.971,-12253.073,16,2.0,16,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.201,-0.139
$KALMAN_X,10782.2,203.1,-36.9,-10606.0,248.0
$KALMAN_Y,9356.9,82.8,-66.6,-8962.6,194.5
$MHEAD_RNG_PITCHd_Wd,217.1,377,-14.6,-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,-1.40,-146.6,0.0,0.0,0,122,0.00,0.00,-88.72,0.000,2,0.000,0.000,136,1002,3607
$GC,127,-1.40,-146.6,2.3,-2.4,15,157,16.20,0.00,-6.80,0.000,6,0.219,0.000,2595,1001,3880
$GC,224,-1.40,-146.6,12.2,-6.7,30,229,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1001,3881
$GC,296,-1.40,-146.6,16.1,-5.9,41,302,0.00,1.65,0.00,0.000,4,0.000,0.097,2596,162,3881
$GC,329,-1.40,-146.6,17.8,-5.6,46,335,0.00,1.52,0.00,0.000,6,0.000,0.050,2595,998,3882
$GC,406,-1.40,-146.6,22.5,-6.2,55,410,0.00,2.50,0.00,0.000,4,0.000,0.043,2596,2414,3881
$GC,638,-1.40,-146.6,37.7,-5.8,72,642,0.00,2.58,0.00,0.000,6,0.000,0.052,2596,1001,3882
$GC,833,-1.40,-146.6,49.6,-6.3,87,838,0.00,2.53,0.00,0.000,4,0.000,0.042,2595,2423,3882
$GC,1030,-1.40,-146.6,62.0,-6.6,101,1037,0.00,2.60,0.00,0.000,6,0.000,0.052,2596,995,3882
$GC,1227,-1.40,-146.6,74.7,-6.8,117,1231,0.00,2.53,0.00,0.000,4,0.000,0.043,2596,2420,3882
$GC,1379,-1.40,-146.6,85.0,-6.6,128,1383,0.00,2.60,0.00,0.000,6,0.000,0.052,2596,992,3882
$GC,1574,-1.40,-146.6,99.5,-7.3,143,1579,0.00,2.50,0.00,0.000,4,0.000,0.042,2596,2414,3882
$STATE,1585,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1586,begin apogee
$GC,1592,-0.42,0.0,100.3,7.1,144,1773,1.05,0.00,173.32,0.644,6,0.096,0.000,2808,2512,3281
$STATE,1774,end apogee,CONTROL_FINISHED_OK
$STATE,1774,begin climb
$GC,1776,1.40,146.6,102.6,0.0,159,1958,1.80,2.67,170.70,0.615,4,0.058,0.051,3209,1094,2683
$GC,2018,1.40,146.6,82.2,11.3,179,2022,0.00,2.55,0.00,0.000,6,0.000,0.042,3209,2512,2683
$GC,2220,1.40,146.6,59.2,11.7,195,2225,0.00,2.62,0.00,0.000,4,0.000,0.077,3209,3891,2683
$GC,2266,1.40,146.6,53.6,12.1,198,2271,0.00,2.47,0.00,0.000,6,0.000,0.038,3210,2490,2683
$GC,2462,1.40,146.6,30.7,11.2,213,2463,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2490,2683
$GC,2655,1.40,146.6,9.8,9.9,235,2662,0.00,2.65,0.00,0.000,4,0.000,0.071,3209,3891,2683
$GC,2715,1.40,146.6,3.5,11.4,244,2721,0.00,2.45,0.00,0.000,6,0.000,0.039,3209,2498,2683
$STATE,2725,end climb,SURFACE_DEPTH_REACHED
$STATE,2725,begin surface coast
$FINISH,0.2,1.018772
$STATE,2740,end surface coast,CONTROL_FINISHED_OK
$STATE,2740,begin surface
$SM_CCo,2772,111.38,0.572,0,0,1651,400.08
$SM_GC,0.81,0.00,0.00,111.38,0.000,0.000,0.572,136,1014,1651,-12.74,0.40,400.08
$IRIDIUM_FIX,4719.74,-12254.47,011007,060644
$TT8_MAMPS,0.066729
$HUMID,2132
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,19.80
$XPDR_PINGS,160
$24V_AH,23.5,28.318
$10V_AH,10.1,17.267
$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,33.075,39.375,344.025,111.375,0.000,40.006,44.328,228.397,40.500,19.160,3464.840,16.814,457.359,1362.892,535.913,506.324,521.317,33.347,856.040,0.000,480.143,0.000,4.059
$DEVICE_MAMPS,218.595,96.642,644.280,572.182,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,162.685,0.000,0.000,0.000,0.000,0.000,0.000,3484.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6425,248
$CFSIZE,260034560,253734912
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,042325,4738.986,-12253.223,37,1.3,37,18.3