version: 66.02
glider: 116
mission: 6
dive: 117
start: 10 1 107 8 19 0
data:
$ID,116
$MISSION,6
$DIVE,117
$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,-31757.955
$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
$GPS1,081107,4739.092,-12253.038,14,1.4,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-64.2
$GPS2,081750,4739.122,-12252.877,9,1.4,14,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.188,-0.155
$KALMAN_X,12870.2,358.5,95.5,-12733.8,245.9
$KALMAN_Y,11188.6,119.6,144.2,-10761.4,202.9
$MHEAD_RNG_PITCHd_Wd,212.1,739,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,30,-1.40,-146.6,0.0,0.0,0,109,0.00,0.00,-76.78,0.000,2,0.000,0.000,135,1006,3374
$GC,113,-1.40,-146.6,2.3,-1.7,13,150,16.23,2.53,-14.38,0.000,4,0.219,0.053,2595,2424,3879
$GC,230,-1.40,-146.6,10.1,-5.6,31,236,0.00,2.60,0.00,0.000,6,0.000,0.051,2595,998,3880
$GC,303,-1.40,-146.6,15.2,-7.6,42,308,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,998,3880
$GC,381,-1.40,-146.6,21.3,-7.2,53,382,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,998,3880
$GC,574,-1.40,-146.6,36.4,-8.0,68,578,0.00,2.53,0.00,0.000,4,0.000,0.041,2595,2422,3880
$GC,753,-1.40,-146.6,48.1,-5.9,81,757,0.00,2.60,0.00,0.000,6,0.000,0.051,2595,1001,3880
$GC,949,-1.40,-146.6,60.9,-6.7,96,953,0.00,2.50,0.00,0.000,4,0.000,0.041,2595,2420,3880
$GC,1160,-1.40,-146.6,74.1,-6.7,112,1165,0.00,2.60,0.00,0.000,6,0.000,0.052,2595,992,3880
$GC,1356,-1.40,-146.6,87.6,-6.8,127,1360,0.00,2.53,0.00,0.000,4,0.000,0.041,2595,2417,3880
$GC,1508,-1.40,-146.6,98.2,-7.2,138,1513,0.00,2.58,0.00,0.000,6,0.000,0.053,2595,999,3880
$STATE,1545,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1545,begin apogee
$GC,1554,-0.42,0.0,100.8,6.8,141,1733,1.05,0.00,173.07,0.647,6,0.097,0.000,2809,2511,3281
$STATE,1734,end apogee,CONTROL_FINISHED_OK
$STATE,1734,begin climb
$GC,1737,1.40,146.6,103.2,0.0,156,1920,1.83,0.00,171.18,0.617,6,0.061,0.000,3205,2511,2683
$GC,2107,1.40,146.6,69.4,10.3,186,2109,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2511,2682
$GC,2299,1.40,146.6,49.6,10.5,201,2303,0.00,2.62,0.00,0.000,4,0.000,0.077,3205,3891,2682
$GC,2345,1.40,146.6,44.1,11.3,204,2349,0.00,2.47,0.00,0.000,6,0.000,0.039,3206,2488,2682
$GC,2540,1.40,146.6,23.7,10.1,219,2541,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2488,2683
$GC,2736,1.40,146.6,4.8,9.5,245,2742,0.00,2.50,0.00,0.000,4,0.000,0.053,3205,1101,2682
$GC,2756,1.40,146.6,2.7,10.4,248,2762,0.00,2.53,0.00,0.000,6,0.000,0.043,3206,2514,2682
$STATE,2766,end climb,SURFACE_DEPTH_REACHED
$STATE,2766,begin surface coast
$FINISH,0.2,1.013289
$STATE,2780,end surface coast,CONTROL_FINISHED_OK
$STATE,2781,begin surface
$SM_CCo,2813,111.70,0.577,0,0,1649,400.08
$SM_GC,0.76,0.00,0.00,111.70,0.000,0.000,0.577,133,1010,1649,-12.75,0.28,400.08
$IRIDIUM_FIX,4722.92,-12254.47,011007,111141
$TT8_MAMPS,0.066729
$HUMID,2127
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,19.70
$XPDR_PINGS,163
$24V_AH,23.9,28.867
$10V_AH,10.1,17.632
$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,33.100,36.100,344.250,111.700,0.000,32.777,51.598,180.930,41.250,19.170,3442.830,14.447,463.864,1415.167,541.966,482.800,452.764,33.346,841.818,0.000,462.934,0.000,4.055
$DEVICE_MAMPS,219.362,77.467,647.348,576.784,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,165.657,0.000,0.000,0.000,0.000,0.000,0.000,3462.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6449,252
$CFSIZE,260034560,253575168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,090833,4739.006,-12253.134,11,1.8,11,18.3