version: 66.02
glider: 116
mission: 6
dive: 275
start: 10 7 107 11 7 30
data:
$ID,116
$MISSION,6
$DIVE,275
$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,-35339.965
$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
$GPS1,105538,4743.195,-12250.875,34,1.2,34,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-57.9
$GPS2,110621,4743.356,-12250.882,15,1.4,15,18.3
$SPEED_LIMITS,0.193,0.216
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.054,-0.209
$KALMAN_X,33337.8,66.2,-85.8,-30233.9,-78.8
$KALMAN_Y,23340.6,699.5,215.3,-15730.3,97.4
$MHEAD_RNG_PITCHd_Wd,147.3,574,-13.3,-7.037
$D_GRID,166
$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,30,end surface,CONTROL_FINISHED_OK
$STATE,30,begin dive
$GC,35,-1.27,-127.1,0.0,0.0,0,114,0.00,0.00,-77.47,0.000,2,0.000,0.000,134,999,3241
$GC,119,-1.27,-127.1,2.0,-1.7,13,169,16.17,2.53,-25.58,0.000,4,0.214,0.052,2625,2420,3800
$GC,361,-1.27,-127.1,12.8,-4.5,50,368,0.00,2.58,0.00,0.000,6,0.000,0.050,2625,1002,3801
$GC,435,-1.27,-127.1,17.5,-7.6,61,441,0.00,2.50,0.00,0.000,4,0.000,0.041,2625,2415,3801
$GC,693,-1.27,-127.1,30.2,-4.9,84,699,0.00,2.58,0.00,0.000,6,0.000,0.049,2625,991,3801
$GC,889,-1.27,-127.1,39.8,-4.1,100,894,0.00,2.53,0.00,0.000,4,0.000,0.040,2624,2424,3801
$GC,1148,-1.27,-127.1,50.8,-4.2,119,1152,0.00,2.58,0.00,0.000,6,0.000,0.050,2625,999,3801
$GC,1351,-1.27,-127.1,59.8,-4.4,135,1355,0.00,2.50,0.00,0.000,4,0.000,0.039,2626,2419,3801
$GC,1612,-1.27,-127.1,72.9,-5.2,154,1616,0.00,2.58,0.00,0.000,6,0.000,0.050,2625,996,3801
$GC,1809,-1.27,-127.1,82.8,-5.0,169,1813,0.00,2.50,0.00,0.000,4,0.000,0.040,2625,2416,3801
$GC,2015,-1.27,-127.1,93.0,-5.0,184,2019,0.00,2.58,0.00,0.000,6,0.000,0.051,2624,994,3801
$STATE,2056,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2056,begin apogee
$GC,2067,-0.42,0.0,95.0,4.7,187,2221,0.90,0.00,150.30,0.649,6,0.093,0.000,2809,2517,3281
$STATE,2225,end apogee,CONTROL_FINISHED_OK
$STATE,2225,begin climb
$GC,2229,1.27,127.1,96.2,0.0,200,2390,1.67,2.62,149.50,0.620,4,0.061,0.048,3180,1087,2761
$GC,2431,1.27,127.1,80.9,9.0,216,2436,0.00,2.58,0.00,0.000,6,0.000,0.041,3180,2519,2761
$GC,2628,1.27,127.1,62.4,9.5,231,2629,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2519,2761
$GC,2820,1.27,127.1,44.2,8.9,246,2821,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2519,2761
$GC,3009,1.27,127.1,25.9,10.1,261,3010,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2519,2760
$GC,3200,1.27,127.1,6.5,9.7,286,3206,0.00,2.58,0.00,0.000,4,0.000,0.073,3179,3890,2760
$STATE,3257,end climb,SURFACE_DEPTH_REACHED
$STATE,3257,begin surface coast
$FINISH,0.7,1.022398
$STATE,3284,end surface coast,CONTROL_FINISHED_OK
$STATE,3284,begin surface
$SM_CCo,3319,120.38,0.576,0,0,1650,400.08
$SM_GC,1.22,0.00,0.00,120.38,0.000,0.000,0.576,133,996,1650,-12.75,-0.11,400.08
$IRIDIUM_FIX,4726.11,-12250.84,071007,141413
$TT8_MAMPS,0.06903
$HUMID,2110
$INTERNAL_PRESSURE,11.4555
$TCM_TEMP,19.60
$XPDR_PINGS,200
$24V_AH,23.9,45.943
$10V_AH,10.0,29.394
$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,32.525,41.200,299.800,120.375,0.000,77.861,129.486,195.192,50.250,0.000,4226.000,15.096,547.948,1774.185,518.232,596.221,671.424,33.335,864.060,0.000,574.649,0.000,2.498
$DEVICE_MAMPS,213.993,72.865,648.882,576.017,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,197.962,0.000,0.000,0.000,0.000,0.000,0.000,4226.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,32.963,51.000
$DATA_FILE_SIZE,9589,299
$CFSIZE,260034560,248442880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,120539,4743.222,-12250.846,9,1.8,10,18.3