version: 66.02
glider: 116
mission: 6
dive: 115
start: 10 1 107 6 24 23
data:
$ID,116
$MISSION,6
$DIVE,115
$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,-31730.518
$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,15
$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
$GPS1,061708,4739.093,-12253.044,35,1.1,35,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-64.0
$GPS2,062314,4739.131,-12252.908,12,1.0,17,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.178,-0.167
$KALMAN_X,12195.4,305.0,-57.2,-11892.3,301.5
$KALMAN_Y,10648.4,79.4,-8.1,-10011.9,286.1
$MHEAD_RNG_PITCHd_Wd,208.4,721,-14.6,-8.333
$D_GRID,132
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,30,-1.40,-146.6,0.0,0.0,0,97,0.00,0.00,-64.82,0.000,2,0.000,0.000,133,1001,3048
$GC,100,-1.40,-146.6,2.1,-4.8,11,156,16.27,2.58,-29.88,0.000,4,0.219,0.054,2597,2415,3879
$GC,236,-1.40,-146.6,9.2,-6.1,32,242,0.00,2.58,0.00,0.000,6,0.000,0.051,2596,998,3880
$GC,308,-1.40,-146.6,14.0,-7.0,43,314,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,998,3880
$GC,381,-1.40,-146.6,18.9,-7.1,54,387,0.00,2.53,0.00,0.000,4,0.000,0.042,2597,2420,3880
$GC,598,-1.40,-146.6,33.2,-6.6,72,605,0.00,2.58,0.00,0.000,6,0.000,0.051,2596,1001,3881
$GC,795,-1.40,-146.6,46.5,-6.8,88,799,0.00,2.50,0.00,0.000,4,0.000,0.041,2597,2414,3880
$GC,882,-1.40,-146.6,52.0,-6.1,94,887,0.00,2.58,0.00,0.000,6,0.000,0.051,2597,1000,3881
$GC,1078,-1.40,-146.6,65.1,-6.7,109,1082,0.00,2.50,0.00,0.000,4,0.000,0.041,2597,2414,3880
$GC,1338,-1.40,-146.6,81.3,-5.6,128,1342,0.00,2.58,0.00,0.000,6,0.000,0.052,2597,999,3881
$GC,1534,-1.40,-146.6,93.3,-6.0,143,1538,0.00,2.50,0.00,0.000,4,0.000,0.041,2597,2415,3881
$STATE,1646,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1646,begin apogee
$GC,1653,-0.42,0.0,100.2,5.8,151,1832,1.05,0.00,173.18,0.647,6,0.097,0.000,2809,2522,3281
$STATE,1833,end apogee,CONTROL_FINISHED_OK
$STATE,1834,begin climb
$GC,1836,1.40,146.6,103.6,0.0,166,2018,1.83,0.00,170.77,0.617,6,0.060,0.000,3208,2522,2683
$GC,2207,1.40,146.6,69.4,10.6,196,2208,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2522,2682
$GC,2398,1.40,146.6,49.1,10.7,211,2402,0.00,2.60,0.00,0.000,4,0.000,0.078,3207,3889,2682
$GC,2457,1.40,146.6,42.2,12.1,215,2461,0.00,2.45,0.00,0.000,6,0.000,0.040,3208,2498,2682
$GC,2652,1.40,146.6,21.2,9.8,230,2653,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2495,2682
$STATE,2848,end climb,SURFACE_DEPTH_REACHED
$STATE,2848,begin surface coast
$FINISH,0.6,1.020103
$STATE,2871,end surface coast,CONTROL_FINISHED_OK
$STATE,2871,begin surface
$SM_CCo,2902,115.80,0.578,0,0,1649,400.08
$SM_GC,0.84,0.00,0.00,115.80,0.000,0.000,0.578,136,1001,1649,-12.74,0.06,400.08
$IRIDIUM_FIX,4722.92,-12256.21,011007,090923
$TT8_MAMPS,0.066729
$HUMID,2140
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,19.70
$XPDR_PINGS,171
$24V_AH,23.9,28.648
$10V_AH,10.1,17.488
$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,33.875,30.900,343.950,115.800,0.000,39.405,31.345,157.148,43.250,20.010,3503.990,17.758,477.221,1467.446,535.541,526.717,405.109,33.352,854.446,0.000,500.361,0.000,4.055
$DEVICE_MAMPS,219.362,78.234,647.348,578.318,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,172.393,0.000,0.000,0.000,0.000,0.000,0.000,3524.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6454,262
$CFSIZE,260034560,253636608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,071533,4739.083,-12253.009,15,1.3,15,18.3