version: 66.02
glider: 116
mission: 6
dive: 299
start: 10 8 107 11 50 50
data:
$ID,116
$MISSION,6
$DIVE,299
$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,-35838.344
$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
$GPS1,113733,4742.988,-12250.825,12,1.8,12,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-64.3
$GPS2,114920,4742.962,-12250.856,15,2.0,15,18.3
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.052,0.270
$KALMAN_X,30882.1,-259.9,-129.2,-27374.4,24.8
$KALMAN_Y,25008.3,-501.9,-80.3,-16616.5,57.6
$MHEAD_RNG_PITCHd_Wd,352.7,169,-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,31,end surface,CONTROL_FINISHED_OK
$STATE,31,begin dive
$GC,35,-1.52,-127.1,0.0,0.0,0,122,0.00,0.00,-83.60,0.000,2,0.000,0.000,134,1011,3223
$GC,127,-1.52,-127.1,2.3,-3.2,14,170,15.60,1.73,-22.27,0.000,4,0.209,0.110,2571,162,3800
$GC,389,-1.52,-127.1,20.9,-6.9,53,392,0.00,1.52,0.00,0.000,6,0.000,0.044,2571,1005,3802
$GC,595,-1.52,-127.1,33.6,-6.1,69,599,0.00,2.47,0.00,0.000,4,0.000,0.041,2571,2414,3802
$GC,853,-1.52,-127.1,49.3,-5.7,88,857,0.00,2.58,0.00,0.000,6,0.000,0.050,2571,996,3802
$GC,1050,-1.52,-127.1,61.5,-6.1,103,1054,0.00,2.50,0.00,0.000,4,0.000,0.040,2571,2413,3802
$GC,1308,-1.52,-127.1,76.7,-6.2,122,1313,0.00,2.58,0.00,0.000,6,0.000,0.050,2571,994,3802
$STATE,1362,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1363,begin apogee
$GC,1373,-0.42,0.0,80.0,5.9,126,1528,1.17,0.00,150.07,0.637,6,0.101,0.000,2808,2514,3281
$STATE,1533,end apogee,CONTROL_FINISHED_OK
$STATE,1533,begin climb
$GC,1536,1.52,127.1,81.2,0.0,139,1696,1.92,2.60,147.60,0.607,4,0.058,0.048,3237,1096,2761
$GC,1736,1.52,127.1,61.7,12.6,155,1742,0.00,2.53,0.00,0.000,6,0.000,0.040,3237,2510,2761
$GC,1932,1.52,127.1,38.0,11.9,171,1936,0.00,2.60,0.00,0.000,4,0.000,0.072,3236,3890,2761
$GC,1972,1.52,127.1,32.8,13.2,173,1978,0.00,2.45,0.00,0.000,6,0.000,0.036,3237,2493,2761
$GC,2172,1.54,145.0,10.9,9.3,195,2196,0.00,2.70,15.50,0.619,4,0.000,0.067,3236,3888,2690
$STATE,2260,end climb,SURFACE_DEPTH_REACHED
$STATE,2260,begin surface coast
$FINISH,0.8,1.022216
$STATE,2268,end surface coast,CONTROL_FINISHED_OK
$STATE,2268,begin surface
$SM_CCo,2307,135.20,0.565,0,0,1445,450.13
$SM_GC,1.47,0.00,0.00,135.20,0.000,0.000,0.565,137,1003,1445,-12.73,0.08,450.13
$IRIDIUM_FIX,4726.11,-12255.26,081007,151521
$TT8_MAMPS,0.066729
$HUMID,2116
$INTERNAL_PRESSURE,11.4653
$TCM_TEMP,19.70
$XPDR_PINGS,127
$24V_AH,23.9,48.604
$10V_AH,10.1,31.306
$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,32.975,34.275,313.175,135.200,0.000,76.288,88.096,299.234,31.750,0.000,3291.000,15.003,403.754,1121.322,531.501,432.030,708.193,33.321,808.110,0.000,412.911,0.000,0.935
$DEVICE_MAMPS,208.624,109.681,636.610,564.512,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,137.137,0.000,0.000,0.000,0.000,0.000,0.000,3291.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,32.963,51.000
$DATA_FILE_SIZE,6475,210
$CFSIZE,260034560,247668736
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081007,123226,4743.139,-12250.783,8,1.9,13,18.3