version: 66.02
glider: 116
mission: 6
dive: 294
start: 10 8 107 7 23 9
data:
$ID,116
$MISSION,6
$DIVE,294
$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,-35722.293
$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,20
$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
$GPS1,071351,4743.148,-12250.765,10,1.6,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-64.9
$GPS2,072139,4743.113,-12250.798,16,1.4,16,18.3
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.142,-0.235
$KALMAN_X,31367.3,-205.6,-143.6,-27827.0,-66.2
$KALMAN_Y,25630.2,-441.4,-256.8,-16844.5,-56.0
$MHEAD_RNG_PITCHd_Wd,130.6,119,-16.3,-10.000
$D_GRID,164
$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,-83.47,0.000,2,0.000,0.000,137,996,3226
$GC,125,-1.52,-127.1,2.3,-3.4,14,169,15.62,2.58,-21.80,0.000,4,0.210,0.050,2570,2420,3801
$GC,318,-1.52,-127.1,14.0,-7.5,43,325,0.00,2.58,0.00,0.000,6,0.000,0.049,2570,1001,3802
$GC,392,-1.52,-127.1,19.7,-7.9,54,398,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1000,3802
$GC,463,-1.52,-127.1,25.0,-7.4,60,466,0.00,1.62,0.00,0.000,4,0.000,0.094,2570,165,3802
$GC,557,-1.52,-127.1,31.8,-6.7,67,560,0.00,1.50,0.00,0.000,6,0.000,0.045,2570,997,3801
$GC,762,-1.52,-127.1,44.2,-6.2,83,766,0.00,2.47,0.00,0.000,4,0.000,0.040,2570,2410,3801
$GC,994,-1.52,-127.1,57.5,-5.4,100,998,0.00,2.58,0.00,0.000,6,0.000,0.051,2570,992,3802
$GC,1191,-1.52,-127.1,69.4,-6.2,115,1195,0.00,2.47,0.00,0.000,4,0.000,0.039,2570,2412,3802
$GC,1250,-1.52,-127.1,73.2,-5.9,119,1257,0.00,2.55,0.00,0.000,6,0.000,0.050,2570,999,3802
$STATE,1355,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1355,begin apogee
$GC,1366,-0.42,0.0,79.5,5.8,128,1520,1.17,0.00,150.12,0.633,6,0.102,0.000,2806,2507,3281
$STATE,1525,end apogee,CONTROL_FINISHED_OK
$STATE,1525,begin climb
$GC,1528,1.52,127.1,80.6,0.0,141,1688,1.92,2.60,148.02,0.605,4,0.059,0.048,3234,1091,2761
$GC,1757,1.52,127.1,59.3,11.9,159,1761,0.00,2.55,0.00,0.000,6,0.000,0.040,3234,2516,2761
$GC,1954,1.52,127.1,35.9,11.6,174,1955,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,2517,2761
$GC,2144,1.52,132.1,14.9,9.8,192,2157,0.00,2.62,4.32,0.672,4,0.000,0.047,3235,1090,2741
$GC,2198,1.54,147.6,9.8,9.4,200,2217,0.00,2.53,13.30,0.624,6,0.000,0.038,3234,2511,2679
$STATE,2277,end climb,SURFACE_DEPTH_REACHED
$STATE,2277,begin surface coast
$FINISH,0.8,1.001562
$STATE,2295,end surface coast,CONTROL_FINISHED_OK
$STATE,2295,begin surface
$SM_CCo,2331,133.60,0.565,0,0,1446,450.13
$SM_GC,1.31,0.00,0.00,133.60,0.000,0.000,0.565,137,990,1446,-12.73,-0.28,450.13
$IRIDIUM_FIX,4726.11,-12253.53,081007,101006
$TT8_MAMPS,0.067496
$HUMID,2115
$INTERNAL_PRESSURE,11.4458
$TCM_TEMP,19.70
$XPDR_PINGS,127
$24V_AH,23.9,48.079
$10V_AH,10.0,30.953
$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,32.950,34.175,315.775,133.600,0.000,40.406,41.512,215.886,31.750,0.000,3082.000,16.195,414.681,1076.976,536.910,419.896,531.581,33.324,810.268,0.000,398.565,0.000,0.935
$DEVICE_MAMPS,210.158,93.574,671.892,564.512,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,140.315,0.000,0.000,0.000,0.000,0.000,0.000,3082.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,32.963,51.000
$DATA_FILE_SIZE,6439,215
$CFSIZE,260034560,247812096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081007,080529,4742.887,-12250.659,15,3.9,34,18.3