version: 66.02
glider: 116
mission: 6
dive: 397
start: 10 11 107 15 15 56
data:
$ID,116
$MISSION,6
$DIVE,397
$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,-38483.27
$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,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
$GPS1,150623,4741.477,-12251.706,15,2.6,34,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-64.8
$GPS2,151450,4741.459,-12251.676,17,1.5,34,18.3
$SPEED_LIMITS,0.148,0.247
$TGT_NAME,PT4
$TGT_LATLONG,4441.500,-12251.167
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.036,-0.290
$KALMAN_X,27728.4,-213.7,-17.8,-25402.6,-72.8
$KALMAN_Y,43419.9,7236.1,1178.1,-46847.5,-1181.7
$MHEAD_RNG_PITCHd_Wd,154.6,333286,-11.8,-8.571
$D_GRID,121
$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,-1.16,-146.6,0.0,0.0,0,117,0.00,0.00,-77.18,0.000,2,0.000,0.000,135,994,3069
$GC,123,-1.16,-146.6,2.2,-1.5,13,184,15.82,2.53,-38.12,0.000,4,0.202,0.050,2647,2423,3879
$GC,299,-1.16,-146.6,9.6,-6.2,40,305,0.00,2.58,0.00,0.000,6,0.000,0.048,2646,996,3880
$GC,374,-1.16,-146.6,13.9,-5.5,51,379,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,996,3880
$GC,448,-1.16,-146.6,17.9,-5.0,62,454,0.00,2.50,0.00,0.000,4,0.000,0.039,2646,2416,3880
$GC,648,-1.16,-146.6,27.4,-4.8,81,652,0.00,2.58,0.00,0.000,6,0.000,0.048,2647,993,3880
$GC,846,-1.16,-146.6,37.5,-5.6,96,850,0.00,2.50,0.00,0.000,4,0.000,0.038,2647,2418,3880
$GC,989,-1.16,-146.6,44.8,-5.4,106,995,0.00,2.55,0.00,0.000,6,0.000,0.048,2646,1000,3880
$GC,1186,-1.16,-146.6,54.5,-4.8,122,1191,0.00,2.50,0.00,0.000,4,0.000,0.038,2646,2420,3880
$GC,1326,-1.16,-146.6,60.8,-4.6,132,1330,0.00,2.58,0.00,0.000,6,0.000,0.048,2646,995,3880
$STATE,1507,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1507,begin apogee
$GC,1519,-0.42,0.0,70.0,5.3,146,1698,0.77,0.00,171.70,0.631,6,0.084,0.000,2808,2518,3281
$STATE,1699,end apogee,CONTROL_FINISHED_OK
$STATE,1699,begin climb
$GC,1704,1.16,146.6,72.0,0.0,161,1886,1.60,2.65,170.48,0.598,4,0.061,0.048,3156,1097,2683
$GC,1980,1.16,146.6,50.6,9.2,183,1984,0.00,2.53,0.00,0.000,6,0.000,0.039,3156,2511,2682
$GC,2177,1.16,146.6,32.7,10.0,198,2181,0.00,2.60,0.00,0.000,4,0.000,0.072,3156,3890,2683
$GC,2243,1.16,146.6,25.8,10.3,202,2250,0.00,2.45,0.00,0.000,6,0.000,0.037,3156,2492,2682
$GC,2447,1.20,176.9,8.0,7.8,228,2478,0.00,2.58,25.40,0.603,4,0.000,0.048,3156,1104,2559
$STATE,2528,end climb,SURFACE_DEPTH_REACHED
$STATE,2528,begin surface coast
$FINISH,1.2,1.022144
$STATE,2532,end surface coast,CONTROL_FINISHED_OK
$STATE,2533,begin surface
$SM_CCo,2565,120.15,0.565,0,0,1445,450.13
$SM_GC,1.69,0.00,0.00,120.15,0.000,0.000,0.565,133,1006,1445,-12.76,0.17,450.13
$IRIDIUM_FIX,4726.11,-12257.95,111007,181808
$TT8_MAMPS,0.068263
$HUMID,2115
$INTERNAL_PRESSURE,11.4555
$TCM_TEMP,19.60
$XPDR_PINGS,135
$24V_AH,23.9,59.651
$10V_AH,10.1,37.860
$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,32.125,36.025,367.575,120.150,0.000,40.618,35.934,213.436,33.750,0.000,3354.000,34.088,420.878,1140.520,567.488,500.173,585.383,33.328,880.341,0.000,459.238,0.000,0.937
$DEVICE_MAMPS,201.721,74.399,631.241,565.279,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,157.162,0.000,0.000,0.000,0.000,0.000,0.000,3354.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,36.827,51.000
$DATA_FILE_SIZE,6458,241
$CFSIZE,260034560,244809728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111007,160158,4741.180,-12251.643,14,3.4,33,18.3