version: 66.02
glider: 116
mission: 6
dive: 292
start: 10 8 107 5 36 33
data:
$ID,116
$MISSION,6
$DIVE,292
$D_SURF,2
$D_FLARE,2
$D_TGT,90
$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,30
$T_MISSION,45
$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,450
$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,-35669.715
$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,15
$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
$GPS1,052727,4743.000,-12250.795,13,1.9,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-64.5
$GPS2,053503,4742.959,-12250.834,16,1.7,16,18.3
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.114,0.250
$KALMAN_X,31676.6,-158.2,-44.4,-28328.1,-104.8
$KALMAN_Y,25967.5,-349.7,-226.5,-17585.3,-105.5
$MHEAD_RNG_PITCHd_Wd,6.2,169,-16.3,-10.000
$D_GRID,163
$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,-1.52,-127.1,0.0,0.0,0,121,0.00,0.00,-83.50,0.000,2,0.000,0.000,133,991,3223
$GC,125,-1.52,-127.1,2.3,-3.3,14,169,15.65,1.67,-22.80,0.000,4,0.210,0.111,2569,167,3801
$GC,420,-1.52,-127.1,23.7,-6.6,55,426,0.00,1.50,0.00,0.000,6,0.000,0.044,2568,1003,3803
$GC,617,-1.52,-127.1,35.1,-6.1,71,618,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1003,3803
$GC,809,-1.52,-127.1,46.3,-5.9,86,813,0.00,2.47,0.00,0.000,4,0.000,0.040,2568,2413,3803
$GC,938,-1.52,-127.1,54.2,-5.7,95,944,0.00,2.55,0.00,0.000,6,0.000,0.048,2568,999,3803
$GC,1135,-1.52,-127.1,65.9,-5.7,111,1139,0.00,2.50,0.00,0.000,4,0.000,0.039,2568,2420,3802
$GC,1277,-1.52,-127.1,73.7,-5.0,121,1283,0.00,2.58,0.00,0.000,6,0.000,0.049,2568,993,3802
$STATE,1356,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1356,begin apogee
$GC,1367,-0.42,0.0,78.8,6.1,128,1522,1.17,0.00,150.18,0.632,6,0.101,0.000,2806,2515,3281
$STATE,1526,end apogee,CONTROL_FINISHED_OK
$STATE,1526,begin climb
$GC,1529,1.52,127.1,80.9,0.0,141,1690,1.95,2.62,148.52,0.604,4,0.058,0.048,3239,1086,2761
$GC,1718,1.52,127.1,63.6,12.0,156,1722,0.00,2.58,0.00,0.000,6,0.000,0.040,3239,2519,2761
$GC,1916,1.52,127.1,39.7,12.1,171,1917,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,2520,2761
$GC,2104,1.52,127.1,17.0,11.0,188,2110,0.00,2.58,0.00,0.000,4,0.000,0.048,3239,1093,2761
$GC,2138,1.52,127.1,13.3,11.3,193,2144,0.00,2.53,0.00,0.000,6,0.000,0.040,3239,2514,2761
$GC,2211,1.53,139.5,6.1,9.5,204,2230,0.00,2.65,10.02,0.632,4,0.000,0.071,3239,3890,2711
$STATE,2254,end climb,SURFACE_DEPTH_REACHED
$STATE,2254,begin surface coast
$FINISH,0.7,1.002521
$STATE,2280,end surface coast,CONTROL_FINISHED_OK
$STATE,2280,begin surface
$SM_CCo,2316,137.10,0.564,0,0,1445,450.13
$SM_GC,1.40,0.00,0.00,137.10,0.000,0.000,0.564,133,993,1445,-12.75,-0.20,450.13
$IRIDIUM_FIX,4726.11,-12252.58,081007,080803
$TT8_MAMPS,0.067496
$HUMID,2108
$INTERNAL_PRESSURE,11.4555
$TCM_TEMP,19.70
$XPDR_PINGS,129
$24V_AH,23.9,47.866
$10V_AH,10.0,30.813
$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,32.975,34.250,308.725,137.100,0.000,39.317,40.526,206.593,32.250,0.000,3051.000,16.712,404.900,1087.397,540.484,404.250,519.793,33.327,802.840,0.000,381.933,0.000,0.935
$DEVICE_MAMPS,210.158,111.215,632.008,563.745,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,139.652,0.000,0.000,0.000,0.000,0.000,0.000,3051.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,32.963,51.000
$DATA_FILE_SIZE,6450,214
$CFSIZE,260034560,247869440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081007,061820,4743.083,-12250.813,8,2.0,13,18.3