version: 66.02
glider: 116
mission: 6
dive: 270
start: 10 7 107 5 24 43
data:
$ID,116
$MISSION,6
$DIVE,270
$D_SURF,2
$D_FLARE,2
$D_TGT,95
$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,45
$T_MISSION,90
$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,130
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$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,-35266.938
$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,14
$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,3
$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
$GPS1,051045,4743.325,-12250.729,12,1.8,13,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-60.4
$GPS2,052335,4743.492,-12250.692,16,2.7,35,18.3
$SPEED_LIMITS,0.193,0.216
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.016,-0.215
$KALMAN_X,33524.3,331.4,21.0,-30559.3,-28.6
$KALMAN_Y,21288.4,596.9,163.3,-13267.6,198.2
$MHEAD_RNG_PITCHd_Wd,166.0,833,-13.3,-7.037
$D_GRID,167
$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,33,end surface,CONTROL_FINISHED_OK
$STATE,33,begin dive
$GC,37,-1.27,-127.1,0.0,0.0,0,123,0.00,0.00,-83.20,0.000,2,0.000,0.000,133,987,3380
$GC,128,-1.27,-127.1,2.4,-2.9,14,164,15.90,0.00,-15.10,0.000,6,0.209,0.000,2622,988,3800
$GC,231,-1.27,-127.1,7.4,-6.0,30,237,0.00,2.53,0.00,0.000,4,0.000,0.041,2622,2412,3800
$GC,424,-1.27,-127.1,17.3,-6.6,59,430,0.00,2.58,0.00,0.000,6,0.000,0.051,2622,992,3801
$GC,497,-1.27,-127.1,20.3,-4.4,70,501,0.00,2.50,0.00,0.000,4,0.000,0.040,2622,2416,3801
$GC,755,-1.27,-127.1,31.7,-5.4,89,761,0.00,2.58,0.00,0.000,6,0.000,0.049,2622,990,3801
$GC,951,-1.27,-127.1,40.6,-4.1,105,956,0.00,2.53,0.00,0.000,4,0.000,0.040,2621,2424,3801
$GC,1179,-1.27,-127.1,49.8,-4.0,121,1185,0.00,2.58,0.00,0.000,6,0.000,0.048,2622,995,3801
$GC,1375,-1.27,-127.1,58.9,-4.9,137,1380,0.00,2.50,0.00,0.000,4,0.000,0.039,2622,2417,3801
$GC,1547,-1.27,-127.1,66.8,-4.3,149,1553,0.00,2.55,0.00,0.000,6,0.000,0.049,2622,1000,3801
$GC,1744,-1.27,-127.1,76.3,-4.9,165,1748,0.00,2.50,0.00,0.000,4,0.000,0.040,2622,2424,3801
$GC,1909,-1.27,-127.1,84.1,-4.9,177,1915,0.00,2.58,0.00,0.000,6,0.000,0.050,2621,995,3801
$GC,2106,-1.27,-127.1,94.5,-5.6,193,2110,0.00,2.50,0.00,0.000,4,0.000,0.039,2622,2420,3801
$STATE,2115,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2115,begin apogee
$GC,2123,-0.42,0.0,95.3,5.2,193,2277,0.90,0.00,150.50,0.650,6,0.093,0.000,2807,2517,3281
$STATE,2281,end apogee,CONTROL_FINISHED_OK
$STATE,2281,begin climb
$GC,2285,1.27,127.1,96.9,0.0,206,2443,1.70,2.62,148.98,0.621,4,0.062,0.048,3183,1088,2761
$GC,2515,1.27,127.1,78.5,10.3,224,2522,0.00,2.55,0.00,0.000,6,0.000,0.040,3183,2513,2762
$GC,2712,1.27,127.1,59.7,9.4,240,2713,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,2514,2761
$GC,2901,1.27,127.1,42.3,9.0,255,2902,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2513,2760
$GC,3090,1.27,127.1,24.9,8.8,270,3092,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2514,2760
$GC,3287,1.27,127.1,6.8,9.1,295,3293,0.00,2.58,0.00,0.000,4,0.000,0.072,3183,3890,2760
$STATE,3336,end climb,SURFACE_DEPTH_REACHED
$STATE,3336,begin surface coast
$FINISH,0.6,1.022510
$STATE,3357,end surface coast,CONTROL_FINISHED_OK
$STATE,3357,begin surface
$SM_CCo,3406,120.40,0.577,0,0,1650,400.08
$SM_GC,1.23,0.00,0.00,120.40,0.000,0.000,0.577,135,985,1650,-12.74,-0.42,400.08
$IRIDIUM_FIX,4726.11,-12250.84,071007,080836
$TT8_MAMPS,0.088972
$HUMID,2086
$INTERNAL_PRESSURE,11.4653
$TCM_TEMP,19.60
$XPDR_PINGS,12
$24V_AH,23.9,45.402
$10V_AH,9.7,28.950
$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,32.425,41.100,299.475,120.400,0.000,37.332,39.445,384.939,3.250,0.000,4417.000,36.415,516.952,1843.577,511.119,646.149,784.840,33.341,863.706,0.000,579.935,0.000,2.496
$DEVICE_MAMPS,208.624,72.098,650.416,576.784,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,202.387,0.000,0.000,0.000,0.000,0.000,4185.620,4417.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,32.963,51.000
$DATA_FILE_SIZE,9591,306
$CFSIZE,260034560,248672256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,062421,4743.313,-12250.713,11,1.4,12,18.3