version: 66.02
glider: 116
mission: 6
dive: 302
start: 10 8 107 14 35 44
data:
$ID,116
$MISSION,6
$DIVE,302
$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,-35908.492
$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,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,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
$GPS1,142345,4743.008,-12250.821,11,1.8,11,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-64.8
$GPS2,143414,4742.988,-12250.860,11,1.7,17,18.3
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.077,0.264
$KALMAN_X,30614.9,-255.7,-41.6,-27206.5,24.0
$KALMAN_Y,24577.6,-454.6,-18.2,-16245.9,13.8
$MHEAD_RNG_PITCHd_Wd,358.0,126,-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,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,-83.45,0.000,2,0.000,0.000,136,1013,3218
$GC,125,-1.52,-127.1,2.4,-3.8,14,169,15.57,2.55,-22.55,0.000,4,0.209,0.051,2572,2420,3799
$GC,420,-1.52,-127.1,20.8,-6.5,58,426,0.00,2.58,0.00,0.000,6,0.000,0.048,2572,996,3801
$GC,617,-1.52,-127.1,33.0,-6.1,74,621,0.00,2.50,0.00,0.000,4,0.000,0.039,2572,2415,3801
$GC,836,-1.52,-127.1,45.6,-6.2,90,840,0.00,2.58,0.00,0.000,6,0.000,0.049,2571,995,3801
$GC,1033,-1.52,-127.1,57.2,-5.9,105,1037,0.00,2.50,0.00,0.000,4,0.000,0.039,2572,2415,3800
$GC,1225,-1.52,-127.1,67.8,-5.8,119,1230,0.00,2.58,0.00,0.000,6,0.000,0.050,2572,993,3800
$STATE,1362,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1362,begin apogee
$GC,1373,-0.42,0.0,75.8,5.8,130,1527,1.15,0.00,149.18,0.634,6,0.100,0.000,2804,2513,3282
$STATE,1531,end apogee,CONTROL_FINISHED_OK
$STATE,1531,begin climb
$GC,1535,1.52,127.1,76.5,0.0,143,1694,1.95,2.60,147.82,0.604,4,0.060,0.048,3236,1094,2762
$GC,1728,1.52,127.1,58.0,12.6,159,1733,0.00,2.55,0.00,0.000,6,0.000,0.048,3236,2514,2761
$GC,1925,1.52,127.1,34.5,12.0,174,1929,0.00,2.60,0.00,0.000,4,0.000,0.072,3235,3895,2761
$GC,1977,1.52,127.1,27.6,13.1,177,1983,0.00,2.45,0.00,0.000,6,0.000,0.036,3236,2494,2762
$GC,2182,1.55,157.1,6.0,8.8,203,2212,0.00,2.72,20.62,0.607,4,0.000,0.066,3235,3896,2639
$STATE,2223,end climb,SURFACE_DEPTH_REACHED
$STATE,2223,begin surface coast
$FINISH,0.7,1.011239
$STATE,2247,end surface coast,CONTROL_FINISHED_OK
$STATE,2247,begin surface
$SM_CCo,2283,128.52,0.562,0,0,1446,450.13
$SM_GC,1.38,0.00,0.00,128.52,0.000,0.000,0.562,134,1011,1446,-12.75,0.31,450.13
$IRIDIUM_FIX,4726.11,-12203.72,081007,181825
$TT8_MAMPS,0.071331
$HUMID,2129
$INTERNAL_PRESSURE,11.4555
$TCM_TEMP,19.80
$XPDR_PINGS,128
$24V_AH,23.9,48.926
$10V_AH,10.0,31.523
$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,32.625,36.200,317.625,128.525,0.000,78.124,127.144,190.981,32.000,0.000,3184.000,17.012,404.271,1101.859,528.262,426.643,626.879,33.327,802.521,0.000,406.062,0.000,0.935
$DEVICE_MAMPS,209.391,72.098,633.542,562.211,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,139.050,0.000,0.000,0.000,0.000,0.000,0.000,3184.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,32.963,51.000
$DATA_FILE_SIZE,6450,213
$CFSIZE,260034560,247582720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081007,151705,4743.139,-12250.751,9,3.3,28,18.3