version: 66.02
glider: 116
mission: 6
dive: 116
start: 10 1 107 7 22 43
data:
$ID,116
$MISSION,6
$DIVE,116
$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,-31742.879
$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,20
$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
$GPS1,071533,4739.083,-12253.009,15,1.3,15,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-63.5
$GPS2,072133,4739.125,-12252.871,11,1.3,11,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.188,-0.156
$KALMAN_X,12552.3,332.4,12.4,-12300.0,281.3
$KALMAN_Y,10925.3,100.5,74.6,-10401.6,232.7
$MHEAD_RNG_PITCHd_Wd,212.0,749,-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,26,begin dive
$GC,30,-1.40,-146.6,0.0,0.0,0,115,0.00,0.00,-82.78,0.000,2,0.000,0.000,137,1002,3499
$GC,118,-1.40,-146.6,2.5,-2.4,14,150,16.58,2.58,-9.50,0.000,4,0.226,0.053,2595,2416,3881
$GC,210,-1.40,-146.6,11.3,-6.6,28,217,0.00,2.60,0.00,0.000,6,0.000,0.051,2595,995,3882
$GC,283,-1.40,-146.6,16.2,-7.2,39,289,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,995,3882
$GC,356,-1.40,-146.6,21.4,-7.4,49,360,0.00,2.53,0.00,0.000,4,0.000,0.041,2595,2416,3882
$GC,566,-1.40,-146.6,35.3,-5.9,64,573,0.00,2.60,0.00,0.000,6,0.000,0.051,2595,992,3882
$GC,763,-1.40,-146.6,48.4,-7.0,80,767,0.00,2.53,0.00,0.000,4,0.000,0.041,2595,2416,3882
$GC,895,-1.40,-146.6,57.7,-6.9,89,902,0.00,2.58,0.00,0.000,6,0.000,0.051,2595,998,3882
$GC,1091,-1.40,-146.6,71.5,-6.7,105,1095,0.00,2.53,0.00,0.000,4,0.000,0.041,2595,2421,3882
$GC,1262,-1.40,-146.6,82.7,-6.8,117,1269,0.00,2.60,0.00,0.000,6,0.000,0.051,2595,991,3882
$GC,1458,-1.40,-146.6,97.0,-7.5,133,1463,0.00,2.53,0.00,0.000,4,0.000,0.041,2595,2417,3882
$STATE,1503,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1503,begin apogee
$GC,1509,-0.42,0.0,100.4,7.3,136,1689,1.05,0.00,173.55,0.647,6,0.098,0.000,2807,2512,3281
$STATE,1690,end apogee,CONTROL_FINISHED_OK
$STATE,1690,begin climb
$GC,1693,1.40,146.6,103.0,0.0,151,1874,1.83,2.62,171.23,0.617,4,0.061,0.049,3210,1093,2683
$GC,1921,1.40,146.6,83.9,10.9,170,1925,0.00,2.55,0.00,0.000,6,0.000,0.041,3210,2510,2683
$GC,2116,1.40,146.6,62.4,10.8,185,2120,0.00,2.60,0.00,0.000,4,0.000,0.074,3210,3890,2683
$GC,2194,1.40,146.6,53.7,11.3,190,2201,0.00,2.47,0.00,0.000,6,0.000,0.038,3210,2500,2683
$GC,2390,1.40,146.6,32.5,10.1,206,2392,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2499,2682
$GC,2582,1.40,146.6,12.1,10.5,226,2588,0.00,2.62,0.00,0.000,4,0.000,0.070,3210,3894,2683
$GC,2628,1.40,146.6,7.1,11.0,233,2634,0.00,2.45,0.00,0.000,6,0.000,0.038,3210,2498,2683
$STATE,2678,end climb,SURFACE_DEPTH_REACHED
$STATE,2678,begin surface coast
$FINISH,0.2,1.011379
$STATE,2695,end surface coast,CONTROL_FINISHED_OK
$STATE,2695,begin surface
$SM_CCo,2726,111.60,0.575,0,0,1650,400.08
$SM_GC,0.87,0.00,0.00,111.60,0.000,0.000,0.575,135,1006,1650,-12.74,0.14,400.08
$IRIDIUM_FIX,4719.74,-12251.79,011007,101017
$TT8_MAMPS,0.066729
$HUMID,2140
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,19.80
$XPDR_PINGS,162
$24V_AH,23.9,28.756
$10V_AH,10.1,17.559
$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,33.550,41.325,344.775,111.600,0.000,37.725,32.512,157.721,41.000,19.170,3303.830,11.733,446.335,1345.214,549.284,479.297,405.831,33.356,850.530,0.000,461.840,0.000,4.057
$DEVICE_MAMPS,226.265,74.399,646.581,575.250,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,159.174,0.000,0.000,0.000,0.000,0.000,0.000,3323.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6463,243
$CFSIZE,260034560,253607936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,081107,4739.092,-12253.038,14,1.4,30,18.3