version: 66.02
glider: 116
mission: 6
dive: 394
start: 10 11 107 12 28 47
data:
$ID,116
$MISSION,6
$DIVE,394
$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,-38398.395
$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,14
$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
$GPS1,120847,4742.153,-12251.336,15,2.6,34,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-64.0
$GPS2,122741,4742.161,-12251.317,16,1.8,30,18.3
$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,28160.7,-213.8,-36.0,-25370.1,16.0
$KALMAN_Y,40513.5,7464.0,4473.6,-46089.7,302.4
$MHEAD_RNG_PITCHd_Wd,161.7,334584,-15.1,-8.571
$D_GRID,137
$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,33,end surface,CONTROL_FINISHED_OK
$STATE,33,begin dive
$GC,38,-1.44,-146.6,0.0,0.0,0,117,0.00,0.00,-76.90,0.000,2,0.000,0.000,133,995,3056
$GC,123,-1.44,-146.6,2.2,-1.5,13,184,15.73,2.53,-38.12,0.000,4,0.208,0.050,2586,2422,3880
$GC,438,-1.44,-146.6,21.9,-8.5,60,442,0.00,2.55,0.00,0.000,6,0.000,0.048,2585,999,3882
$GC,642,-1.44,-146.6,34.7,-6.1,76,646,0.00,2.50,0.00,0.000,4,0.000,0.038,2586,2420,3881
$GC,902,-1.44,-146.6,50.1,-6.2,95,906,0.00,2.58,0.00,0.000,6,0.000,0.048,2586,994,3881
$GC,1106,-1.44,-146.6,63.1,-6.2,111,1110,0.00,2.58,0.00,0.000,4,0.000,0.038,2586,2410,3881
$GC,1367,-1.44,-146.6,79.5,-6.4,130,1372,0.00,2.58,0.00,0.000,6,0.000,0.049,2586,995,3881
$STATE,1510,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1510,begin apogee
$GC,1523,-0.42,0.0,89.0,6.2,141,1704,1.10,0.00,172.73,0.640,6,0.099,0.000,2807,2512,3281
$STATE,1705,end apogee,CONTROL_FINISHED_OK
$STATE,1705,begin climb
$GC,1710,1.44,146.6,90.2,0.0,156,1893,1.88,2.62,170.73,0.607,4,0.059,0.048,3223,1090,2683
$GC,1915,1.44,146.6,71.2,12.1,173,1919,0.00,2.58,0.00,0.000,6,0.000,0.040,3225,2515,2683
$GC,2112,1.44,146.6,48.1,11.3,188,2113,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,2515,2682
$GC,2304,1.44,146.6,25.2,12.0,203,2309,0.00,2.60,0.00,0.000,4,0.000,0.074,3223,3890,2682
$GC,2358,1.44,146.6,17.5,13.9,207,2365,0.00,2.45,0.00,0.000,6,0.000,0.036,3223,2493,2682
$GC,2433,1.44,146.6,9.2,9.2,218,2438,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,2492,2682
$GC,2506,1.44,146.6,2.6,9.5,229,2512,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,2491,2682
$STATE,2517,end climb,SURFACE_DEPTH_REACHED
$STATE,2517,begin surface coast
$FINISH,1.2,1.022167
$STATE,2538,end surface coast,CONTROL_FINISHED_OK
$STATE,2538,begin surface
$SM_CCo,2577,133.38,0.568,0,0,1445,450.13
$SM_GC,1.83,0.00,0.00,133.38,0.000,0.000,0.568,137,1011,1445,-12.73,0.31,450.13
$IRIDIUM_FIX,4722.92,-12253.53,111007,161636
$TT8_MAMPS,0.066729
$HUMID,2116
$INTERNAL_PRESSURE,11.4653
$TCM_TEMP,19.70
$XPDR_PINGS,127
$24V_AH,23.9,59.290
$10V_AH,10.0,37.638
$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,32.775,31.025,343.450,133.375,0.000,191.827,328.180,336.017,31.750,41.500,3940.500,30.908,414.257,1262.031,568.997,480.008,1141.419,33.333,861.203,0.000,440.993,0.000,0.936
$DEVICE_MAMPS,207.857,73.632,640.445,567.580,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,153.097,0.000,0.000,0.000,0.000,0.000,0.000,3982.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,36.827,51.000
$DATA_FILE_SIZE,6455,234
$CFSIZE,260034560,244903936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111007,131451,4741.930,-12251.433,11,2.0,11,18.3