version: 66.02
glider: 116
mission: 6
dive: 304
start: 10 8 107 16 28 54
data:
$ID,116
$MISSION,6
$DIVE,304
$D_SURF,2
$D_FLARE,2
$D_TGT,80
$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,25
$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,-35958.121
$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,18
$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
$GPS1,160733,4743.087,-12250.986,11,1.4,11,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-64.5
$GPS2,162723,4743.048,-12251.047,15,2.2,34,18.3
$SPEED_LIMITS,0.293,0.303
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.290,0.039
$KALMAN_X,30453.7,-244.1,-14.5,-27316.3,6.4
$KALMAN_Y,24504.6,-351.8,9.9,-16203.4,-28.2
$MHEAD_RNG_PITCHd_Wd,64.1,286,-16.4,-10.667
$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,33,-1.53,-127.1,0.0,0.0,0,119,0.00,0.00,-83.35,0.000,2,0.000,0.000,135,1002,3204
$GC,123,-1.53,-127.1,2.2,-2.9,14,167,15.40,1.70,-23.62,0.000,4,0.206,0.110,2570,162,3801
$GC,221,-1.53,-127.1,6.7,-7.5,29,227,0.00,1.52,0.00,0.000,6,0.000,0.046,2570,1004,3801
$GC,295,-1.53,-127.1,12.3,-7.6,40,301,0.00,2.47,0.00,0.000,4,0.000,0.041,2570,2413,3802
$GC,349,-1.53,-127.1,16.3,-7.1,48,355,0.00,2.55,0.00,0.000,6,0.000,0.049,2570,1003,3802
$GC,422,-1.53,-127.1,20.8,-5.9,58,424,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1003,3802
$GC,617,-1.53,-127.1,33.1,-5.9,73,621,0.00,2.50,0.00,0.000,4,0.000,0.040,2569,2421,3802
$GC,842,-1.53,-127.1,46.3,-6.0,89,848,0.00,2.58,0.00,0.000,6,0.000,0.049,2570,992,3802
$GC,1039,-1.53,-127.1,58.0,-5.8,105,1043,0.00,2.53,0.00,0.000,4,0.000,0.040,2570,2423,3802
$GC,1210,-1.53,-127.1,66.9,-5.0,117,1216,0.00,2.58,0.00,0.000,6,0.000,0.049,2570,996,3802
$STATE,1365,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1368,begin apogee
$GC,1380,-0.42,0.0,75.0,5.2,130,1534,1.17,0.00,149.75,0.634,6,0.100,0.000,2807,2518,3281
$STATE,1539,end apogee,CONTROL_FINISHED_OK
$STATE,1539,begin climb
$GC,1542,1.53,127.1,74.6,0.0,143,1702,1.95,2.60,147.93,0.603,4,0.058,0.049,3241,1095,2761
$GC,1748,1.53,127.1,52.9,12.3,159,1755,0.00,2.55,0.00,0.000,6,0.000,0.041,3241,2518,2761
$GC,1945,1.53,127.1,29.4,11.9,175,1946,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,2518,2761
$GC,2139,1.56,153.1,7.9,9.6,198,2163,0.00,0.00,21.58,0.610,6,0.000,0.000,3241,2518,2656
$STATE,2194,end climb,SURFACE_DEPTH_REACHED
$STATE,2194,begin surface coast
$FINISH,0.8,1.000664
$STATE,2220,end surface coast,CONTROL_FINISHED_OK
$STATE,2220,begin surface
$SM_CCo,2254,130.73,0.565,0,0,1446,450.13
$SM_GC,1.45,0.00,0.00,130.73,0.000,0.000,0.565,134,990,1446,-12.75,-0.28,450.13
$IRIDIUM_FIX,4726.11,-12255.26,081007,202024
$TT8_MAMPS,0.06903
$HUMID,2104
$INTERNAL_PRESSURE,11.4555
$TCM_TEMP,19.70
$XPDR_PINGS,97
$24V_AH,23.9,49.153
$10V_AH,10.0,31.673
$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,32.700,29.150,319.250,130.725,0.000,162.486,247.881,393.586,24.250,0.000,3715.000,35.548,398.274,1203.822,534.996,433.292,1052.181,33.326,803.985,0.000,391.516,0.000,0.935
$DEVICE_MAMPS,205.556,110.448,634.309,564.512,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,136.695,0.000,0.000,0.000,0.000,0.000,0.000,3715.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,32.963,51.000
$DATA_FILE_SIZE,6434,210
$CFSIZE,260034560,247517184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081007,170933,4743.037,-12250.758,14,1.6,14,18.3