version: 66.02
glider: 116
mission: 6
dive: 129
start: 10 1 107 17 58 43
data:
$ID,116
$MISSION,6
$DIVE,129
$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,-32042.059
$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,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
$GPS1,174826,4738.884,-12253.341,9,1.5,9,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-61.9
$GPS2,175733,4738.952,-12253.206,15,1.6,15,18.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.159,-0.130
$KALMAN_X,15855.4,240.5,-22.5,-15893.4,225.0
$KALMAN_Y,12289.5,66.6,-67.6,-11911.4,156.0
$MHEAD_RNG_PITCHd_Wd,212.5,224,-18.3,-8.333
$D_GRID,137
$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,31,-1.65,-98.9,0.0,0.0,0,104,0.00,0.00,-70.82,0.000,2,0.000,0.000,133,1010,3185
$GC,108,-1.71,-146.6,2.1,-4.4,12,157,15.40,2.50,-26.48,0.000,4,0.210,0.053,2530,2415,3880
$GC,190,-1.71,-146.6,5.2,-6.2,25,197,0.00,2.58,0.00,0.000,6,0.000,0.050,2530,1002,3880
$GC,263,-1.71,-146.6,10.8,-7.9,36,269,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,1002,3880
$GC,336,-1.71,-146.6,16.7,-8.3,47,342,0.00,2.53,0.00,0.000,4,0.000,0.041,2530,2424,3880
$GC,368,-1.71,-146.6,19.6,-8.8,52,375,0.00,2.60,0.00,0.000,6,0.000,0.051,2530,993,3880
$GC,445,-1.71,-146.6,26.8,-9.8,59,449,0.00,2.53,0.00,0.000,4,0.000,0.042,2530,2415,3880
$GC,623,-1.71,-146.6,41.5,-7.3,72,627,0.00,2.58,0.00,0.000,6,0.000,0.051,2530,999,3880
$GC,819,-1.71,-146.6,56.0,-7.3,87,823,0.00,2.53,0.00,0.000,4,0.000,0.041,2530,2423,3880
$GC,884,-1.71,-146.6,60.3,-6.3,91,891,0.00,2.60,0.00,0.000,6,0.000,0.051,2530,992,3880
$GC,1082,-1.71,-146.6,73.8,-7.3,107,1087,0.00,2.53,0.00,0.000,4,0.000,0.041,2530,2421,3880
$GC,1215,-1.71,-146.6,83.0,-6.5,116,1222,0.00,2.58,0.00,0.000,6,0.000,0.051,2530,999,3880
$GC,1411,-1.71,-146.6,97.4,-8.0,132,1416,0.00,2.50,0.00,0.000,4,0.000,0.041,2530,2415,3880
$STATE,1443,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1443,begin apogee
$GC,1450,-0.42,0.0,100.1,8.3,134,1630,1.40,0.00,173.85,0.642,6,0.108,0.000,2807,2514,3281
$STATE,1632,end apogee,CONTROL_FINISHED_OK
$STATE,1632,begin climb
$GC,1634,1.71,146.6,103.8,0.0,149,1818,2.15,2.67,171.57,0.612,4,0.058,0.074,3278,3881,2683
$GC,1886,1.71,146.6,77.4,14.8,169,1891,0.00,2.45,0.00,0.000,6,0.000,0.038,3278,2494,2683
$GC,2082,1.71,146.6,50.7,13.5,184,2083,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,2493,2682
$GC,2273,1.71,146.6,26.1,13.0,199,2274,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,2493,2682
$STATE,2465,end climb,SURFACE_DEPTH_REACHED
$STATE,2465,begin surface coast
$FINISH,0.6,1.019841
$STATE,2479,end surface coast,CONTROL_FINISHED_OK
$STATE,2479,begin surface
$SM_CCo,2513,117.57,0.571,0,0,1650,400.08
$SM_GC,0.94,0.00,0.00,117.57,0.000,0.000,0.571,137,999,1650,-12.74,-0.03,400.08
$IRIDIUM_FIX,4719.74,-12254.47,011007,212137
$TT8_MAMPS,0.066729
$HUMID,2160
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,19.60
$XPDR_PINGS,146
$24V_AH,23.7,30.077
$10V_AH,10.0,18.388
$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,33.425,36.075,345.425,117.575,0.000,77.998,61.280,205.286,37.000,17.410,3291.590,15.834,417.089,1269.293,542.187,449.257,529.221,33.359,835.128,0.000,427.681,0.000,4.056
$DEVICE_MAMPS,210.158,74.399,641.979,570.648,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,148.365,0.000,0.000,0.000,0.000,0.000,0.000,3309.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6438,227
$CFSIZE,260034560,253235200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,184337,4738.837,-12253.354,9,1.9,26,18.3