version: 66.02
glider: 116
mission: 6
dive: 272
start: 10 7 107 7 52 57
data:
$ID,116
$MISSION,6
$DIVE,272
$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,-35295.637
$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,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,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
$GPS1,073621,4743.276,-12250.813,11,1.8,12,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-59.2
$GPS2,075145,4743.437,-12250.873,13,1.6,13,18.3
$SPEED_LIMITS,0.193,0.216
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.030,-0.214
$KALMAN_X,33551.5,270.5,-49.4,-30677.0,-33.6
$KALMAN_Y,22057.9,691.2,247.3,-14319.2,72.5
$MHEAD_RNG_PITCHd_Wd,153.6,720,-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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,31,-1.27,-127.1,0.0,0.0,0,118,0.00,0.00,-83.57,0.000,2,0.000,0.000,134,993,3373
$GC,122,-1.27,-127.1,2.4,-2.6,14,159,16.02,0.00,-14.98,0.000,6,0.212,0.000,2622,993,3800
$GC,226,-1.27,-127.1,7.9,-5.7,30,232,0.00,2.53,0.00,0.000,4,0.000,0.041,2622,2419,3802
$GC,358,-1.27,-127.1,13.9,-6.1,50,365,0.00,2.58,0.00,0.000,6,0.000,0.049,2622,999,3801
$GC,432,-1.27,-127.1,18.4,-5.8,61,438,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,999,3802
$GC,510,-1.27,-127.1,23.0,-5.9,69,514,0.00,2.50,0.00,0.000,4,0.000,0.041,2622,2416,3801
$GC,768,-1.27,-127.1,38.1,-6.2,88,772,0.00,2.58,0.00,0.000,6,0.000,0.050,2622,996,3802
$GC,964,-1.27,-127.1,50.8,-6.5,103,969,0.00,2.50,0.00,0.000,4,0.000,0.041,2622,2416,3802
$GC,1202,-1.27,-127.1,64.3,-5.8,120,1208,0.00,2.58,0.00,0.000,6,0.000,0.050,2622,992,3802
$GC,1401,-1.27,-127.1,74.6,-4.8,136,1405,0.00,2.53,0.00,0.000,4,0.000,0.040,2622,2423,3802
$GC,1620,-1.27,-127.1,85.7,-4.7,152,1624,0.00,2.58,0.00,0.000,6,0.000,0.050,2622,992,3802
$STATE,1785,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1785,begin apogee
$GC,1795,-0.42,0.0,95.1,6.0,165,1950,0.90,0.00,150.65,0.650,6,0.091,0.000,2808,2512,3281
$STATE,1954,end apogee,CONTROL_FINISHED_OK
$STATE,1954,begin climb
$GC,1958,1.27,127.1,98.1,0.0,178,2119,1.70,2.62,148.93,0.620,4,0.061,0.048,3178,1084,2761
$GC,2173,1.27,127.1,82.6,9.4,195,2177,0.00,2.58,0.00,0.000,6,0.000,0.041,3178,2515,2761
$GC,2376,1.27,127.1,62.8,9.4,211,2377,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2515,2761
$GC,2568,1.27,127.1,45.5,8.7,226,2572,0.00,2.58,0.00,0.000,4,0.000,0.049,3178,1086,2761
$GC,2614,1.27,127.1,41.1,9.2,229,2620,0.00,2.55,0.00,0.000,6,0.000,0.041,3178,2516,2760
$GC,2811,1.27,131.0,25.1,6.9,245,2821,0.00,0.00,3.65,0.707,6,0.000,0.000,3178,2515,2747
$GC,3016,1.27,131.0,8.9,10.8,270,3022,0.00,2.58,0.00,0.000,4,0.000,0.070,3178,3894,2747
$STATE,3073,end climb,SURFACE_DEPTH_REACHED
$STATE,3073,begin surface coast
$FINISH,0.8,1.022690
$STATE,3090,end surface coast,CONTROL_FINISHED_OK
$STATE,3090,begin surface
$SM_CCo,3125,119.03,0.578,0,0,1650,400.08
$SM_GC,1.20,0.00,0.00,119.03,0.000,0.000,0.578,136,994,1650,-12.74,-0.14,400.08
$IRIDIUM_FIX,4729.30,-12252.58,071007,111146
$TT8_MAMPS,0.068263
$HUMID,2100
$INTERNAL_PRESSURE,11.4653
$TCM_TEMP,19.70
$XPDR_PINGS,172
$24V_AH,23.9,45.630
$10V_AH,10.1,29.142
$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,32.400,41.275,303.225,119.025,0.000,76.702,123.223,387.348,43.250,0.000,4293.000,13.331,508.781,1650.518,515.619,581.536,915.799,33.341,855.187,0.000,539.453,0.000,2.498
$DEVICE_MAMPS,212.459,69.797,707.174,577.551,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,185.489,0.000,0.000,0.000,0.000,0.000,1021.620,4293.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,32.963,51.000
$DATA_FILE_SIZE,6421,281
$CFSIZE,260034560,248537088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,084808,4743.221,-12250.936,33,1.4,34,18.3