version: 66.02
glider: 116
mission: 6
dive: 271
start: 10 7 107 6 37 54
data:
$ID,116
$MISSION,6
$DIVE,271
$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,-35281.676
$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,17
$R_STBD_OVSHOOT,19
$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
$GPS1,062421,4743.313,-12250.713,11,1.4,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-61.5
$GPS2,063645,4743.456,-12250.709,14,1.4,14,18.3
$SPEED_LIMITS,0.193,0.216
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.023,-0.214
$KALMAN_X,33600.1,314.3,-21.4,-30595.5,-16.5
$KALMAN_Y,21648.7,655.1,211.9,-13801.7,139.7
$MHEAD_RNG_PITCHd_Wd,167.9,764,-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,34,end surface,CONTROL_FINISHED_OK
$STATE,34,begin dive
$GC,38,-1.27,-127.1,0.0,0.0,0,118,0.00,0.00,-77.30,0.000,2,0.000,0.000,136,985,3247
$GC,123,-1.27,-127.1,2.1,-2.2,13,166,15.93,1.67,-21.80,0.000,4,0.209,0.113,2623,165,3800
$GC,187,-1.27,-127.1,4.3,-4.5,23,193,0.00,1.52,0.00,0.000,6,0.000,0.047,2623,1003,3802
$GC,260,-1.27,-127.1,8.4,-5.4,34,266,0.00,2.50,0.00,0.000,4,0.000,0.041,2623,2423,3802
$GC,340,-1.27,-127.1,12.7,-5.8,46,346,0.00,2.58,0.00,0.000,6,0.000,0.049,2623,1003,3802
$GC,414,-1.27,-127.1,16.9,-5.8,57,419,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,1003,3802
$GC,486,-1.27,-127.1,20.6,-4.8,67,490,0.00,2.50,0.00,0.000,4,0.000,0.040,2623,2419,3802
$GC,744,-1.27,-127.1,32.1,-3.7,86,749,0.00,2.58,0.00,0.000,6,0.000,0.050,2623,995,3802
$GC,948,-1.27,-127.1,41.5,-4.5,102,952,0.00,2.50,0.00,0.000,4,0.000,0.039,2623,2415,3802
$GC,1206,-1.27,-127.1,53.2,-4.8,121,1210,0.00,2.58,0.00,0.000,6,0.000,0.051,2623,995,3802
$GC,1402,-1.27,-127.1,63.2,-5.4,136,1406,0.00,2.47,0.00,0.000,4,0.000,0.039,2623,2414,3802
$GC,1636,-1.27,-127.1,74.5,-4.7,153,1642,0.00,2.55,0.00,0.000,6,0.000,0.049,2623,999,3802
$GC,1833,-1.27,-127.1,84.8,-5.0,169,1837,0.00,2.50,0.00,0.000,4,0.000,0.039,2622,2423,3802
$STATE,2041,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2041,begin apogee
$GC,2049,-0.42,0.0,95.2,4.4,184,2204,0.90,0.00,150.90,0.650,6,0.091,0.000,2809,2521,3281
$STATE,2207,end apogee,CONTROL_FINISHED_OK
$STATE,2208,begin climb
$GC,2211,1.27,127.1,96.6,0.0,197,2368,1.70,0.00,149.05,0.622,6,0.061,0.000,3179,2520,2761
$GC,2560,1.27,127.1,68.0,9.7,225,2564,0.00,2.60,0.00,0.000,4,0.000,0.050,3179,1087,2761
$GC,2600,1.27,127.1,63.8,9.9,227,2606,0.00,2.53,0.00,0.000,6,0.000,0.041,3178,2506,2761
$GC,2797,1.27,127.1,44.6,9.7,243,2798,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2506,2760
$GC,2986,1.27,127.1,26.8,8.9,258,2987,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2506,2760
$GC,3180,1.27,127.1,9.8,9.5,281,3186,0.00,2.60,0.00,0.000,4,0.000,0.073,3178,3890,2760
$STATE,3263,end climb,SURFACE_DEPTH_REACHED
$STATE,3263,begin surface coast
$FINISH,0.8,1.022528
$STATE,3284,end surface coast,CONTROL_FINISHED_OK
$STATE,3284,begin surface
$SM_CCo,3335,120.15,0.577,0,0,1650,400.08
$SM_GC,1.11,0.00,0.00,120.15,0.000,0.000,0.577,134,993,1650,-12.75,-0.20,400.08
$IRIDIUM_FIX,4726.11,-12239.31,071007,090912
$TT8_MAMPS,0.087438
$HUMID,2093
$INTERNAL_PRESSURE,11.4555
$TCM_TEMP,19.70
$XPDR_PINGS,14
$24V_AH,23.9,45.511
$10V_AH,9.3,29.042
$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,32.125,39.125,299.950,120.150,0.000,42.358,34.701,384.773,3.750,0.000,4319.000,14.111,513.548,1770.503,518.403,613.748,790.995,33.346,865.151,0.000,573.132,0.000,2.496
$DEVICE_MAMPS,209.391,112.749,649.649,576.784,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,196.334,0.000,0.000,0.000,0.000,0.000,0.000,4319.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,32.963,51.000
$DATA_FILE_SIZE,9607,297
$CFSIZE,260034560,248614912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,073621,4743.276,-12250.813,11,1.8,12,18.3