version: 66.02
glider: 116
mission: 6
dive: 301
start: 10 8 107 13 41 44
data:
$ID,116
$MISSION,6
$DIVE,301
$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,-35890.848
$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,14
$R_STBD_OVSHOOT,22
$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
$GPS1,133321,4742.874,-12250.877,10,1.6,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-64.8
$GPS2,134015,4742.858,-12250.902,16,1.7,16,18.3
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.081,0.262
$KALMAN_X,30697.9,-249.2,-52.5,-27337.7,-11.0
$KALMAN_Y,24742.0,-450.2,2.4,-16680.4,-18.6
$MHEAD_RNG_PITCHd_Wd,358.9,371,-16.3,-10.000
$D_GRID,161
$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,27,end surface,CONTROL_FINISHED_OK
$STATE,30,begin dive
$GC,35,-1.52,-127.1,0.0,0.0,0,120,0.00,0.00,-82.70,0.000,2,0.000,0.000,133,993,3205
$GC,125,-1.52,-127.1,2.2,-3.0,14,169,15.55,1.67,-23.80,0.000,4,0.207,0.110,2572,163,3800
$GC,216,-1.52,-127.1,6.1,-7.1,28,222,0.00,1.50,0.00,0.000,6,0.000,0.045,2572,994,3801
$GC,289,-1.52,-127.1,11.7,-7.7,39,296,0.00,2.50,0.00,0.000,4,0.000,0.041,2572,2413,3802
$GC,428,-1.52,-127.1,22.0,-6.8,58,434,0.00,2.58,0.00,0.000,6,0.000,0.050,2572,995,3802
$GC,624,-1.52,-127.1,34.2,-6.0,74,629,0.00,2.50,0.00,0.000,4,0.000,0.039,2572,2413,3802
$GC,830,-1.52,-127.1,46.4,-6.2,89,834,0.00,2.58,0.00,0.000,6,0.000,0.051,2572,995,3801
$GC,1033,-1.52,-127.1,59.9,-6.6,105,1038,0.00,2.50,0.00,0.000,4,0.000,0.040,2572,2413,3802
$GC,1231,-1.52,-127.1,72.6,-6.0,119,1237,0.00,2.55,0.00,0.000,6,0.000,0.050,2572,1000,3802
$STATE,1361,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1361,begin apogee
$GC,1372,-0.42,0.0,80.5,6.0,130,1527,1.17,0.00,149.62,0.637,6,0.099,0.000,2809,2507,3282
$STATE,1531,end apogee,CONTROL_FINISHED_OK
$STATE,1531,begin climb
$GC,1535,1.52,127.1,82.5,0.0,143,1695,1.92,2.60,148.12,0.607,4,0.058,0.049,3237,1094,2761
$GC,1715,1.52,127.1,66.4,12.0,157,1721,0.00,2.55,0.00,0.000,6,0.000,0.040,3237,2514,2761
$GC,1911,1.52,127.1,43.4,11.9,173,1915,0.00,2.58,0.00,0.000,4,0.000,0.071,3236,3888,2761
$GC,1930,1.52,127.1,40.9,12.0,174,1937,0.00,2.45,0.00,0.000,6,0.000,0.037,3237,2491,2761
$GC,2128,1.52,127.1,17.4,10.9,191,2134,0.00,2.62,0.00,0.000,4,0.000,0.068,3237,3888,2760
$GC,2168,1.52,127.1,12.8,11.3,197,2174,0.00,2.42,0.00,0.000,6,0.000,0.036,3237,2502,2760
$GC,2242,1.54,149.3,5.7,9.1,208,2267,0.00,2.65,17.05,0.614,4,0.000,0.067,3237,3890,2671
$STATE,2278,end climb,SURFACE_DEPTH_REACHED
$STATE,2278,begin surface coast
$FINISH,0.7,1.002999
$STATE,2302,end surface coast,CONTROL_FINISHED_OK
$STATE,2302,begin surface
$SM_CCo,2338,131.90,0.562,0,0,1445,450.13
$SM_GC,1.37,0.00,0.00,131.90,0.000,0.000,0.562,136,1013,1445,-12.74,0.37,450.13
$IRIDIUM_FIX,4726.11,-12250.84,081007,161610
$TT8_MAMPS,0.068263
$HUMID,2097
$INTERNAL_PRESSURE,11.4555
$TCM_TEMP,19.70
$XPDR_PINGS,124
$24V_AH,23.9,48.821
$10V_AH,10.0,31.453
$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,32.925,44.225,314.800,131.900,0.000,41.294,31.435,170.628,31.000,0.000,3030.000,16.365,410.130,1063.663,551.110,423.130,482.127,33.322,825.471,0.000,401.185,0.000,0.935
$DEVICE_MAMPS,207.090,109.681,637.377,562.211,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,141.224,0.000,0.000,0.000,0.000,0.000,0.000,3030.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,32.963,51.000
$DATA_FILE_SIZE,6437,217
$CFSIZE,260034560,247611392
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081007,142345,4743.008,-12250.821,11,1.8,11,18.3