version: 66.02
glider: 116
mission: 6
dive: 293
start: 10 8 107 6 31 36
data:
$ID,116
$MISSION,6
$DIVE,293
$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,-35705.469
$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
$GPS1,061820,4743.083,-12250.813,8,2.0,13,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-64.1
$GPS2,063005,4743.033,-12250.859,15,2.1,34,18.3
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.197,0.192
$KALMAN_X,31536.9,-179.9,-98.1,-28145.7,-75.4
$KALMAN_Y,25764.9,-401.6,-250.4,-17170.8,-95.5
$MHEAD_RNG_PITCHd_Wd,27.5,61,-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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,33,-1.52,-127.1,0.0,0.0,0,118,0.00,0.00,-83.30,0.000,2,0.000,0.000,134,993,3218
$GC,123,-1.52,-127.1,2.3,-3.0,14,167,15.60,2.58,-22.58,0.000,4,0.210,0.051,2569,2419,3800
$GC,185,-1.52,-127.1,3.9,-4.4,23,191,0.00,2.58,0.00,0.000,6,0.000,0.048,2569,997,3801
$GC,259,-1.52,-127.1,9.8,-8.1,34,265,0.00,1.62,0.00,0.000,4,0.000,0.094,2569,164,3801
$GC,520,-1.52,-127.1,29.7,-6.0,62,526,0.00,1.50,0.00,0.000,6,0.000,0.044,2569,1002,3802
$GC,717,-1.52,-127.1,41.5,-6.1,78,718,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1003,3803
$GC,911,-1.52,-127.1,52.9,-6.2,93,915,0.00,2.47,0.00,0.000,4,0.000,0.040,2569,2415,3802
$GC,1046,-1.52,-127.1,61.3,-5.7,102,1052,0.00,2.55,0.00,0.000,6,0.000,0.049,2569,1000,3801
$GC,1242,-1.52,-127.1,73.5,-6.1,118,1247,0.00,2.50,0.00,0.000,4,0.000,0.040,2568,2419,3802
$STATE,1361,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1361,begin apogee
$GC,1369,-0.42,0.0,80.8,6.4,126,1524,1.17,0.00,149.88,0.634,6,0.100,0.000,2807,2517,3281
$STATE,1528,end apogee,CONTROL_FINISHED_OK
$STATE,1528,begin climb
$GC,1532,1.52,127.1,82.4,0.0,139,1688,1.92,0.00,147.85,0.606,6,0.059,0.000,3235,2517,2762
$GC,1878,1.52,127.1,47.4,11.8,167,1882,0.00,2.58,0.00,0.000,4,0.000,0.048,3235,1093,2761
$GC,1903,1.52,127.1,43.7,11.6,168,1910,0.00,2.53,0.00,0.000,6,0.000,0.040,3235,2506,2762
$GC,2100,1.52,127.1,21.1,11.5,184,2104,0.00,2.55,0.00,0.000,4,0.000,0.048,3235,1090,2760
$GC,2140,1.52,127.1,16.7,11.3,188,2147,0.00,2.53,0.00,0.000,6,0.000,0.039,3235,2511,2761
$GC,2214,1.52,132.6,9.2,9.8,199,2227,0.00,2.62,4.50,0.672,4,0.000,0.070,3234,3884,2740
$STATE,2287,end climb,SURFACE_DEPTH_REACHED
$STATE,2287,begin surface coast
$FINISH,0.7,1.007689
$STATE,2305,end surface coast,CONTROL_FINISHED_OK
$STATE,2305,begin surface
$SM_CCo,2344,140.70,0.567,0,0,1445,450.13
$SM_GC,1.40,0.00,0.00,140.70,0.000,0.000,0.567,137,996,1445,-12.73,-0.11,450.13
$IRIDIUM_FIX,4729.30,-12249.89,081007,101054
$TT8_MAMPS,0.066729
$HUMID,2101
$INTERNAL_PRESSURE,11.4555
$TCM_TEMP,19.70
$XPDR_PINGS,131
$24V_AH,23.9,47.976
$10V_AH,10.0,30.886
$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,32.900,34.025,302.225,140.700,0.000,76.380,70.903,305.588,32.750,0.000,3328.000,35.130,407.809,1157.170,541.394,432.528,699.693,33.330,804.913,0.000,391.858,0.000,0.936
$DEVICE_MAMPS,210.158,93.574,671.892,566.813,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,138.964,0.000,0.000,0.000,0.000,0.000,0.000,3328.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,32.963,51.000
$DATA_FILE_SIZE,6441,213
$CFSIZE,260034560,247836672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081007,071351,4743.148,-12250.765,10,1.6,10,18.3