version: 66.02
glider: 116
mission: 6
dive: 114
start: 10 1 107 5 27 59
data:
$ID,116
$MISSION,6
$DIVE,114
$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,-31712.131
$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,17
$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
$GPS1,052009,4739.045,-12253.121,13,1.9,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-63.7
$GPS2,052650,4739.114,-12252.952,12,1.7,30,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.181,-0.164
$KALMAN_X,11809.7,263.0,-103.3,-11475.0,329.0
$KALMAN_Y,10312.3,65.8,-69.3,-9633.5,291.0
$MHEAD_RNG_PITCHd_Wd,209.6,660,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,30,-1.40,-146.6,0.0,0.0,0,115,0.00,0.00,-82.75,0.000,2,0.000,0.000,133,1003,3474
$GC,118,-1.40,-146.6,2.2,-1.7,14,156,16.45,2.55,-11.52,0.000,4,0.224,0.055,2593,2413,3880
$GC,196,-1.40,-146.6,8.5,-7.3,26,202,0.00,2.58,0.00,0.000,6,0.000,0.051,2593,1002,3880
$GC,269,-1.40,-146.6,14.2,-7.8,37,274,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,1002,3880
$GC,341,-1.40,-146.6,19.6,-7.0,48,347,0.00,2.50,0.00,0.000,4,0.000,0.041,2593,2415,3880
$GC,598,-1.40,-146.6,38.2,-6.7,68,605,0.00,2.58,0.00,0.000,6,0.000,0.051,2593,998,3881
$GC,795,-1.40,-146.6,51.5,-6.9,84,799,0.00,2.53,0.00,0.000,4,0.000,0.042,2593,2422,3881
$GC,928,-1.40,-146.6,60.1,-6.3,93,934,0.00,2.58,0.00,0.000,6,0.000,0.051,2593,1001,3881
$GC,1123,-1.40,-146.6,73.2,-6.9,109,1128,0.00,2.50,0.00,0.000,4,0.000,0.041,2593,2414,3881
$GC,1355,-1.40,-146.6,88.6,-6.7,126,1359,0.00,2.58,0.00,0.000,6,0.000,0.052,2593,1001,3881
$STATE,1523,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1523,begin apogee
$GC,1532,-0.42,0.0,100.5,7.1,139,1712,1.08,0.00,172.90,0.647,6,0.099,0.000,2810,2512,3281
$STATE,1713,end apogee,CONTROL_FINISHED_OK
$STATE,1713,begin climb
$GC,1715,1.40,146.6,103.5,0.0,154,1897,1.80,2.62,171.20,0.616,4,0.060,0.049,3209,1091,2683
$GC,1922,1.40,146.6,86.5,11.1,171,1929,0.00,2.58,0.00,0.000,6,0.000,0.041,3209,2509,2683
$GC,2119,1.40,146.6,64.3,11.2,187,2123,0.00,2.62,0.00,0.000,4,0.000,0.074,3209,3891,2682
$GC,2203,1.40,146.6,53.7,12.8,193,2210,0.00,2.50,0.00,0.000,6,0.000,0.038,3209,2491,2682
$GC,2399,1.40,146.6,33.2,10.0,209,2404,0.00,2.50,0.00,0.000,4,0.000,0.053,3209,1105,2682
$GC,2432,1.40,146.6,29.9,9.8,211,2436,0.00,2.53,0.00,0.000,6,0.000,0.041,3209,2521,2682
$GC,2632,1.40,146.6,10.2,9.9,234,2639,0.00,2.58,0.00,0.000,4,0.000,0.071,3208,3893,2682
$STATE,2709,end climb,SURFACE_DEPTH_REACHED
$STATE,2711,begin surface coast
$FINISH,0.1,1.010160
$STATE,2730,end surface coast,CONTROL_FINISHED_OK
$STATE,2730,begin surface
$SM_CCo,2765,111.93,0.581,0,0,1649,400.08
$SM_GC,0.78,0.00,0.00,111.93,0.000,0.000,0.581,133,1001,1649,-12.75,0.00,400.08
$IRIDIUM_FIX,4719.74,-12251.79,011007,080837
$TT8_MAMPS,0.066729
$HUMID,2141
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,19.80
$XPDR_PINGS,160
$24V_AH,23.9,28.538
$10V_AH,10.1,17.413
$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,33.500,46.300,344.100,111.925,0.000,32.777,46.542,170.030,40.500,19.140,3377.860,30.948,452.615,1352.568,560.201,509.221,431.298,33.349,862.619,0.000,474.368,0.000,4.056
$DEVICE_MAMPS,223.964,74.399,646.581,581.386,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,163.128,0.000,0.000,0.000,0.000,0.000,0.000,3397.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6439,249
$CFSIZE,260034560,253673472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,011007,061708,4739.093,-12253.044,35,1.1,35,18.3