version: 66.02
glider: 116
mission: 6
dive: 393
start: 10 11 107 11 21 54
data:
$ID,116
$MISSION,6
$DIVE,393
$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,35
$T_MISSION,50
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$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,15
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-38366.855
$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,16
$R_STBD_OVSHOOT,23
$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
$GPS1,111251,4742.394,-12251.271,11,1.5,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-62.8
$GPS2,112045,4742.405,-12251.254,12,1.9,12,18.3
$SPEED_LIMITS,0.148,0.247
$TGT_NAME,PT4
$TGT_LATLONG,4441.500,-12251.167
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.000,-0.247
$KALMAN_X,28249.8,-207.3,-68.5,-25355.0,31.7
$KALMAN_Y,40898.1,6900.1,4231.7,-45273.3,2275.2
$MHEAD_RNG_PITCHd_Wd,161.7,335036,-15.1,-8.571
$D_GRID,142
$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,29,end surface,CONTROL_FINISHED_OK
$STATE,29,begin dive
$GC,34,-1.44,-146.6,0.0,0.0,0,114,0.00,0.00,-76.70,0.000,2,0.000,0.000,136,1010,3060
$GC,119,-1.44,-146.6,2.0,-1.0,13,180,15.70,2.53,-36.90,0.000,4,0.207,0.051,2587,2415,3879
$GC,434,-1.44,-146.6,20.8,-6.2,61,438,0.00,2.58,0.00,0.000,6,0.000,0.048,2586,995,3880
$GC,638,-1.44,-146.6,33.6,-6.1,77,642,0.00,2.50,0.00,0.000,4,0.000,0.039,2586,2413,3881
$GC,897,-1.44,-146.6,48.9,-6.0,96,902,0.00,2.58,0.00,0.000,6,0.000,0.049,2586,992,3880
$GC,1101,-1.44,-146.6,61.7,-6.4,112,1106,0.00,2.50,0.00,0.000,4,0.000,0.039,2586,2411,3880
$GC,1281,-1.44,-146.6,72.3,-6.3,125,1285,0.00,2.55,0.00,0.000,6,0.000,0.048,2586,1001,3880
$GC,1478,-1.44,-146.6,85.7,-6.9,140,1482,0.00,2.50,0.00,0.000,4,0.000,0.038,2586,2413,3880
$STATE,1508,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1508,begin apogee
$GC,1518,-0.42,0.0,88.2,7.8,142,1699,1.10,0.00,172.07,0.636,6,0.100,0.000,2808,2511,3281
$STATE,1700,end apogee,CONTROL_FINISHED_OK
$STATE,1700,begin climb
$GC,1704,1.44,146.6,91.4,0.0,157,1884,1.88,0.00,171.40,0.604,6,0.059,0.000,3223,2511,2683
$GC,2075,1.44,146.6,54.0,12.0,187,2080,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2511,2682
$GC,2275,1.44,146.6,30.3,11.6,203,2281,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2511,2681
$GC,2478,1.44,146.6,7.9,8.7,228,2483,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2511,2682
$STATE,2541,end climb,SURFACE_DEPTH_REACHED
$STATE,2541,begin surface coast
$FINISH,0.9,1.002119
$STATE,2567,end surface coast,CONTROL_FINISHED_OK
$STATE,2568,begin surface
$SM_CCo,2602,133.38,0.565,0,0,1445,450.13
$SM_GC,1.79,0.00,0.00,133.38,0.000,0.000,0.565,133,995,1445,-12.75,-0.17,450.13
$IRIDIUM_FIX,4729.30,-12248.15,111007,141453
$TT8_MAMPS,0.067496
$HUMID,2120
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,19.70
$XPDR_PINGS,133
$24V_AH,23.8,59.145
$10V_AH,10.1,37.548
$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,32.550,20.700,343.475,133.375,0.000,40.507,40.074,209.399,33.250,24.900,3248.100,15.894,417.784,1241.201,574.643,442.337,560.187,33.329,842.278,0.000,423.234,0.000,0.935
$DEVICE_MAMPS,207.090,69.030,635.843,564.512,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,157.954,0.000,0.000,0.000,0.000,0.000,0.000,3273.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,36.827,51.000
$DATA_FILE_SIZE,6439,241
$CFSIZE,260034560,244940800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111007,120847,4742.153,-12251.336,15,2.6,34,18.3