version: 66.02
glider: 116
mission: 6
dive: 285
start: 10 7 107 23 12 9
data:
$ID,116
$MISSION,6
$DIVE,285
$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,-35524
$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,17
$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
$GPS1,230226,4743.018,-12250.863,9,1.7,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-63.5
$GPS2,231039,4743.006,-12250.851,15,1.8,15,18.3
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.020,0.274
$KALMAN_X,32222.8,-262.7,-53.3,-28780.8,30.5
$KALMAN_Y,27127.2,154.3,91.0,-19483.9,-8.4
$MHEAD_RNG_PITCHd_Wd,346.0,91,-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,32,-1.52,-127.1,0.0,0.0,0,119,0.00,0.00,-83.72,0.000,2,0.000,0.000,133,1005,3199
$GC,123,-1.52,-127.1,2.0,-2.5,14,172,15.85,2.53,-23.95,0.000,4,0.216,0.051,2572,2412,3800
$GC,425,-1.52,-127.1,21.2,-7.1,59,430,0.00,2.55,0.00,0.000,6,0.000,0.049,2572,999,3802
$GC,629,-1.52,-127.1,33.7,-6.2,75,633,0.00,2.50,0.00,0.000,4,0.000,0.038,2571,2419,3802
$GC,887,-1.52,-127.1,49.0,-6.0,94,891,0.00,2.58,0.00,0.000,6,0.000,0.048,2572,993,3802
$GC,1090,-1.52,-127.1,61.2,-5.9,110,1095,0.00,2.50,0.00,0.000,4,0.000,0.038,2572,2414,3801
$GC,1349,-1.52,-127.1,76.2,-5.6,129,1353,0.00,2.58,0.00,0.000,6,0.000,0.050,2572,992,3801
$STATE,1359,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1359,begin apogee
$GC,1370,-0.42,0.0,76.9,5.3,130,1525,1.17,0.00,150.15,0.635,6,0.101,0.000,2809,2514,3281
$STATE,1529,end apogee,CONTROL_FINISHED_OK
$STATE,1529,begin climb
$GC,1533,1.52,127.1,77.9,0.0,143,1694,1.95,2.62,148.00,0.606,4,0.060,0.048,3237,1086,2762
$GC,1735,1.52,127.1,58.9,12.1,159,1739,0.00,2.55,0.00,0.000,6,0.000,0.040,3235,2508,2761
$GC,1931,1.52,127.1,35.9,11.7,174,1936,0.00,2.62,0.00,0.000,4,0.000,0.074,3235,3895,2761
$GC,1984,1.52,127.1,29.2,12.8,177,1990,0.00,2.47,0.00,0.000,6,0.000,0.036,3235,2486,2761
$GC,2186,1.54,146.9,7.8,9.2,202,2210,0.00,2.72,16.55,0.616,4,0.000,0.070,3235,3890,2681
$STATE,2241,end climb,SURFACE_DEPTH_REACHED
$STATE,2241,begin surface coast
$FINISH,1.0,1.022269
$STATE,2252,end surface coast,CONTROL_FINISHED_OK
$STATE,2252,begin surface
$SM_CCo,2288,133.62,0.564,0,0,1445,450.13
$SM_GC,1.23,0.00,0.00,133.62,0.000,0.000,0.564,133,1006,1445,-12.75,0.17,450.13
$IRIDIUM_FIX,4726.11,-12248.15,081007,020212
$TT8_MAMPS,0.072098
$HUMID,2102
$INTERNAL_PRESSURE,11.4458
$TCM_TEMP,19.70
$XPDR_PINGS,125
$24V_AH,23.9,47.107
$10V_AH,10.0,30.303
$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,33.075,36.250,314.700,133.625,0.000,41.233,43.249,237.544,31.250,0.000,3052.000,15.586,406.126,1034.440,531.865,440.574,549.140,33.339,814.623,0.000,420.084,0.000,0.936
$DEVICE_MAMPS,215.527,74.399,635.076,563.745,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,138.513,0.000,0.000,0.000,0.000,0.000,0.000,3052.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,32.963,51.000
$DATA_FILE_SIZE,6442,212
$CFSIZE,260034560,248078336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,235337,4743.090,-12250.763,10,1.4,26,18.3