version: 66.02
glider: 116
mission: 6
dive: 269
start: 10 7 107 4 13 38
data:
$ID,116
$MISSION,6
$DIVE,269
$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,-35229.895
$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,21
$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,3
$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
$GPS1,035132,4743.244,-12250.766,37,1.3,38,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-59.8
$GPS2,041226,4743.530,-12250.724,14,1.3,14,18.3
$SPEED_LIMITS,0.193,0.216
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.027,-0.214
$KALMAN_X,33418.4,310.7,48.8,-30498.2,22.9
$KALMAN_Y,20901.8,545.1,135.0,-12735.6,194.4
$MHEAD_RNG_PITCHd_Wd,169.0,898,-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,31,end surface,CONTROL_FINISHED_OK
$STATE,31,begin dive
$GC,35,-1.27,-127.1,0.0,0.0,0,115,0.00,0.00,-77.12,0.000,2,0.000,0.000,133,1006,3248
$GC,120,-1.27,-127.1,2.1,-2.0,13,162,15.93,0.00,-22.60,0.000,6,0.209,0.000,2622,1006,3801
$GC,230,-1.27,-127.1,6.2,-4.7,30,236,0.00,2.50,0.00,0.000,4,0.000,0.041,2622,2424,3802
$GC,487,-1.27,-127.1,19.3,-4.1,69,494,0.00,2.55,0.00,0.000,6,0.000,0.048,2624,1005,3801
$GC,558,-1.27,-127.1,22.6,-4.8,76,563,0.00,2.50,0.00,0.000,4,0.000,0.040,2622,2422,3802
$GC,809,-1.27,-127.1,35.4,-4.7,94,815,0.00,2.58,0.00,0.000,6,0.000,0.049,2622,999,3802
$GC,1006,-1.27,-127.1,46.4,-5.7,110,1010,0.00,2.50,0.00,0.000,4,0.000,0.040,2622,2419,3803
$GC,1235,-1.27,-127.1,58.9,-5.6,126,1241,0.00,2.55,0.00,0.000,6,0.000,0.050,2623,1000,3802
$GC,1432,-1.27,-127.1,70.1,-5.6,142,1436,0.00,2.50,0.00,0.000,4,0.000,0.040,2622,2420,3802
$GC,1611,-1.27,-127.1,79.7,-5.0,155,1616,0.00,2.58,0.00,0.000,6,0.000,0.050,2622,998,3802
$GC,1808,-1.27,-127.1,91.5,-6.0,170,1812,0.00,2.50,0.00,0.000,4,0.000,0.041,2622,2417,3802
$STATE,1864,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1864,begin apogee
$GC,1873,-0.42,0.0,95.1,5.7,174,2028,0.90,0.00,150.75,0.650,6,0.092,0.000,2808,2514,3281
$STATE,2061,end apogee,CONTROL_FINISHED_OK
$STATE,2061,begin climb
$GC,2064,1.27,127.1,98.6,0.0,187,2223,1.67,2.60,149.52,0.622,4,0.064,0.048,3179,1090,2761
$GC,2312,1.27,127.1,81.6,8.9,206,2318,0.00,2.55,0.00,0.000,6,0.000,0.040,3179,2514,2761
$GC,2508,1.27,127.1,64.3,9.0,222,2510,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2514,2761
$GC,2698,1.27,127.1,47.2,9.3,237,2699,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2514,2760
$GC,2887,1.27,127.1,29.9,9.1,252,2888,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2514,2760
$GC,3080,1.27,127.1,12.0,9.3,273,3086,0.00,2.58,0.00,0.000,4,0.000,0.072,3178,3889,2760
$STATE,3183,end climb,SURFACE_DEPTH_REACHED
$STATE,3183,begin surface coast
$FINISH,0.6,1.015373
$STATE,3204,end surface coast,CONTROL_FINISHED_OK
$STATE,3204,begin surface
$SM_CCo,3254,120.22,0.578,0,0,1649,400.08
$SM_GC,1.17,0.00,0.00,120.22,0.000,0.000,0.578,133,988,1649,-12.76,-0.34,400.08
$IRIDIUM_FIX,4726.11,-12250.84,071007,070753
$TT8_MAMPS,0.085137
$HUMID,2091
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,19.70
$XPDR_PINGS,28
$24V_AH,23.9,45.293
$10V_AH,9.9,28.818
$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,32.175,35.950,300.275,120.225,0.000,118.869,147.305,571.143,7.250,0.000,4772.000,13.973,495.933,1850.899,505.820,591.565,1194.581,33.344,843.909,0.000,553.051,0.000,2.497
$DEVICE_MAMPS,208.624,72.098,650.416,578.318,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,193.032,0.000,0.000,0.000,0.000,0.000,4522.780,4772.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,32.963,51.000
$DATA_FILE_SIZE,6455,292
$CFSIZE,260034560,248737792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,051045,4743.325,-12250.729,12,1.8,13,18.3