version: 66.02
glider: 116
mission: 6
dive: 356
start: 10 10 107 7 12 49
data:
$ID,116
$MISSION,6
$DIVE,356
$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,140
$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,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-37404.805
$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,24
$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
$GPS1,070251,4743.215,-12250.655,13,1.2,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-55.8
$GPS2,071137,4743.274,-12250.626,16,1.6,32,18.3
$SPEED_LIMITS,0.148,0.239
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.119,-0.207
$KALMAN_X,29578.9,275.1,141.3,-26596.0,66.6
$KALMAN_Y,23129.4,322.9,202.8,-15275.3,116.1
$MHEAD_RNG_PITCHd_Wd,191.5,480,-15.7,-8.571
$D_GRID,166
$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,-1.48,-136.9,0.0,0.0,0,159,0.00,0.00,-122.32,0.000,2,0.000,0.000,134,989,3226
$GC,164,-1.48,-136.9,2.1,-1.8,20,208,16.05,1.67,-21.83,0.000,4,0.216,0.110,2581,163,3840
$GC,249,-1.48,-136.9,7.3,-7.6,33,255,0.00,1.50,0.00,0.000,6,0.000,0.044,2580,997,3841
$GC,324,-1.48,-136.9,12.2,-6.0,44,329,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,997,3841
$GC,397,-1.48,-136.9,16.8,-6.3,55,403,0.00,2.47,0.00,0.000,4,0.000,0.039,2580,2410,3841
$GC,655,-1.48,-136.9,32.0,-6.2,79,661,0.00,2.55,0.00,0.000,6,0.000,0.048,2580,999,3841
$GC,852,-1.48,-136.9,44.4,-6.3,95,856,0.00,2.47,0.00,0.000,4,0.000,0.038,2581,2410,3842
$GC,1010,-1.48,-136.9,54.0,-5.5,106,1016,0.00,2.55,0.00,0.000,6,0.000,0.048,2580,998,3842
$GC,1209,-1.48,-136.9,65.6,-5.8,122,1214,0.00,2.47,0.00,0.000,4,0.000,0.038,2580,2412,3841
$GC,1435,-1.48,-136.9,78.8,-5.6,138,1441,0.00,2.55,0.00,0.000,6,0.000,0.049,2580,999,3841
$STATE,1514,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1514,begin apogee
$GC,1526,-0.42,0.0,84.0,6.1,145,1696,1.12,0.00,162.12,0.633,6,0.101,0.000,2807,2509,3282
$STATE,1697,end apogee,CONTROL_FINISHED_OK
$STATE,1697,begin climb
$GC,1701,1.48,136.9,85.8,0.0,159,1872,1.90,2.53,160.90,0.601,4,0.058,0.048,3229,1095,2722
$GC,1899,1.48,136.9,68.1,12.0,175,1906,0.00,2.53,0.00,0.000,6,0.000,0.039,3229,2509,2722
$GC,2098,1.48,136.9,44.7,11.5,191,2102,0.00,2.60,0.00,0.000,4,0.000,0.072,3231,3890,2722
$GC,2138,1.48,136.9,39.4,13.5,193,2145,0.00,2.45,0.00,0.000,6,0.000,0.035,3229,2491,2721
$GC,2336,1.48,136.9,15.4,11.8,211,2341,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,2489,2722
$GC,2409,1.48,136.9,6.9,12.2,222,2415,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,2489,2721
$STATE,2459,end climb,SURFACE_DEPTH_REACHED
$STATE,2459,begin surface coast
$FINISH,0.8,1.010270
$STATE,2480,end surface coast,CONTROL_FINISHED_OK
$STATE,2480,begin surface
$SM_CCo,2518,137.62,0.563,0,0,1445,450.13
$SM_GC,1.42,0.00,0.00,137.62,0.000,0.000,0.563,135,1011,1445,-12.74,0.31,450.13
$IRIDIUM_FIX,4726.11,-12250.84,101007,101048
$TT8_MAMPS,0.066729
$HUMID,2105
$INTERNAL_PRESSURE,11.4653
$TCM_TEMP,19.70
$XPDR_PINGS,131
$24V_AH,23.9,54.998
$10V_AH,10.1,35.229
$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,33.050,33.800,323.025,137.625,0.000,39.490,46.758,246.684,32.750,0.000,3393.000,32.190,411.918,1131.223,586.437,483.120,599.440,33.315,892.014,0.000,445.988,0.000,0.935
$DEVICE_MAMPS,216.294,109.681,632.775,562.978,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,151.455,0.000,0.000,0.000,0.000,0.000,0.000,3393.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,36.827,51.000
$DATA_FILE_SIZE,6429,233
$CFSIZE,260034560,245972992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101007,075817,4743.157,-12250.806,11,2.4,30,18.3