version: 66.02
glider: 116
mission: 6
dive: 307
start: 10 8 107 19 15 32
data:
$ID,116
$MISSION,6
$DIVE,307
$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,-36033.809
$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,18
$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,3
$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
$GPS1,190151,4743.004,-12250.737,8,1.6,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-61.6
$GPS2,191402,4742.959,-12250.818,12,2.0,12,18.3
$SPEED_LIMITS,0.293,0.303
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.061,0.287
$KALMAN_X,30300.9,-226.6,-27.0,-26882.1,25.9
$KALMAN_Y,24473.8,-240.8,-1.4,-16427.5,31.2
$MHEAD_RNG_PITCHd_Wd,329.7,167,-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,35,end surface,CONTROL_FINISHED_OK
$STATE,35,begin dive
$GC,40,-1.53,-127.1,0.0,0.0,0,125,0.00,0.00,-83.07,0.000,2,0.000,0.000,133,996,3189
$GC,130,-1.53,-127.1,2.2,-2.8,14,179,15.45,2.53,-25.42,0.000,4,0.205,0.051,2569,2420,3801
$GC,431,-1.53,-127.1,20.0,-6.3,60,435,0.00,2.58,0.00,0.000,6,0.000,0.049,2569,997,3802
$GC,635,-1.53,-127.1,32.3,-6.2,76,639,0.00,2.50,0.00,0.000,4,0.000,0.038,2569,2417,3802
$GC,844,-1.53,-127.1,44.8,-6.2,91,848,0.00,2.55,0.00,0.000,6,0.000,0.049,2569,1000,3803
$GC,1047,-1.53,-127.1,57.2,-5.9,107,1051,0.00,2.50,0.00,0.000,4,0.000,0.038,2569,2422,3802
$GC,1219,-1.53,-127.1,67.7,-5.8,119,1225,0.00,2.58,0.00,0.000,6,0.000,0.049,2569,993,3803
$STATE,1361,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1361,begin apogee
$GC,1372,-0.42,0.0,76.9,6.3,131,1527,1.17,0.00,150.15,0.635,6,0.101,0.000,2806,2516,3281
$STATE,1539,end apogee,CONTROL_FINISHED_OK
$STATE,1539,begin climb
$GC,1543,1.53,127.1,78.2,0.0,144,1701,1.98,2.62,148.15,0.604,4,0.060,0.048,3237,1089,2761
$GC,1754,1.53,127.1,57.9,12.6,161,1758,0.00,2.55,0.00,0.000,6,0.000,0.041,3237,2519,2761
$GC,1957,1.53,127.1,33.2,11.9,177,1962,0.00,2.58,0.00,0.000,4,0.000,0.072,3237,3890,2760
$GC,2004,1.53,127.1,27.3,13.1,180,2009,0.00,2.45,0.00,0.000,6,0.000,0.037,3237,2495,2760
$GC,2211,1.56,158.0,5.0,9.4,206,2236,0.00,2.65,18.12,0.606,4,0.000,0.066,3237,3890,2636
$STATE,2240,end climb,SURFACE_DEPTH_REACHED
$STATE,2240,begin surface coast
$FINISH,0.7,1.014999
$STATE,2261,end surface coast,CONTROL_FINISHED_OK
$STATE,2261,begin surface
$SM_CCo,2322,128.43,0.563,0,0,1446,450.13
$SM_GC,1.36,0.00,0.00,128.43,0.000,0.000,0.563,136,1004,1446,-12.74,0.08,450.13
$IRIDIUM_FIX,4726.11,-12250.84,081007,222222
$TT8_MAMPS,0.089739
$HUMID,2080
$INTERNAL_PRESSURE,11.4555
$TCM_TEMP,19.70
$XPDR_PINGS,24
$24V_AH,23.9,49.481
$10V_AH,9.7,31.918
$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,32.550,36.100,316.425,128.425,0.000,40.245,36.202,368.648,6.000,0.000,3321.000,12.957,381.101,1089.563,524.859,444.367,771.227,33.326,798.649,0.000,407.164,0.000,0.937
$DEVICE_MAMPS,204.789,72.098,635.076,562.978,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,139.872,0.000,0.000,0.000,0.000,0.000,0.000,3321.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,36.827,51.000
$DATA_FILE_SIZE,6436,214
$CFSIZE,260034560,247414784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081007,195735,4743.143,-12250.868,12,5.0,31,18.3