version: 66.02
glider: 116
mission: 6
dive: 401
start: 10 11 107 18 55 50
data:
$ID,116
$MISSION,6
$DIVE,401
$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,647.83728
$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,-38577.754
$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,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,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
$GPS1,184011,4740.560,-12251.528,10,2.8,29,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-65.2
$GPS2,185444,4740.538,-12251.589,16,1.5,33,18.3
$SPEED_LIMITS,0.148,0.247
$TGT_NAME,PT6
$TGT_LATLONG,4739.500,-12251.500
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.005,-0.247
$KALMAN_X,27734.8,-158.4,-55.0,-25319.2,58.2
$KALMAN_Y,48175.2,4767.7,-1529.0,-48107.3,-320.1
$MHEAD_RNG_PITCHd_Wd,162.8,1926,-15.1,-8.571
$D_GRID,99
$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,32,end surface,CONTROL_FINISHED_OK
$STATE,32,begin dive
$GC,37,-1.44,-146.6,0.0,0.0,0,111,0.00,0.00,-70.97,0.000,2,0.000,0.000,135,1006,2932
$GC,116,-1.44,-146.6,2.0,-0.7,12,184,15.48,1.70,-47.70,0.000,4,0.202,0.109,2587,166,3878
$GC,233,-1.44,-146.6,5.9,-8.1,30,239,0.00,1.52,0.00,0.000,6,0.000,0.044,2586,1010,3879
$GC,307,-1.44,-146.6,11.3,-7.1,41,313,0.00,2.47,0.00,0.000,4,0.000,0.040,2587,2419,3880
$GC,569,-1.44,-146.6,28.4,-6.4,70,575,0.00,2.58,0.00,0.000,6,0.000,0.048,2587,994,3880
$GC,767,-1.44,-146.6,41.3,-6.4,86,771,0.00,2.50,0.00,0.000,4,0.000,0.039,2587,2413,3880
$GC,1027,-1.44,-146.6,57.3,-5.7,105,1031,0.00,2.58,0.00,0.000,6,0.000,0.050,2587,993,3880
$GC,1224,-1.44,-146.6,70.1,-6.6,120,1228,0.00,2.50,0.00,0.000,4,0.000,0.039,2587,2415,3880
$GC,1483,-1.44,-146.6,85.3,-5.9,139,1487,0.00,2.58,0.00,0.000,6,0.000,0.050,2587,995,3880
$STATE,1506,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1506,begin apogee
$GC,1518,-0.42,0.0,87.1,6.7,141,1699,1.10,0.00,173.05,0.639,6,0.096,0.000,2810,2517,3281
$STATE,1700,end apogee,CONTROL_FINISHED_OK
$STATE,1701,begin climb
$GC,1705,1.44,146.6,89.4,0.0,156,1887,1.85,2.62,171.73,0.607,4,0.058,0.048,3214,1094,2682
$GC,1957,1.44,146.6,65.9,11.5,176,1961,0.00,2.55,0.00,0.000,6,0.000,0.041,3214,2514,2682
$GC,2154,1.44,146.6,41.9,11.6,191,2158,0.00,2.60,0.00,0.000,4,0.000,0.074,3215,3889,2682
$GC,2268,1.44,146.6,27.6,12.4,199,2272,0.00,2.45,0.00,0.000,6,0.000,0.036,3214,2492,2682
$GC,2471,1.44,146.6,6.0,8.9,224,2477,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2490,2681
$STATE,2515,end climb,SURFACE_DEPTH_REACHED
$STATE,2515,begin surface coast
$FINISH,1.0,1.011719
$STATE,2536,end surface coast,CONTROL_FINISHED_OK
$STATE,2536,begin surface
$SM_CCo,2575,224.85,0.565,0,0,640,647.84
$SM_GC,1.64,0.00,0.00,224.85,0.000,0.000,0.565,132,1009,640,-12.76,0.23,647.84
$IRIDIUM_FIX,4722.92,-12249.11,111007,222213
$TT8_MAMPS,0.066729
$HUMID,2083
$INTERNAL_PRESSURE,11.3774
$TCM_TEMP,19.60
$XPDR_PINGS,141
$24V_AH,23.9,60.128
$10V_AH,10.1,38.158
$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,32.525,34.125,344.775,224.850,0.000,197.024,422.865,0.000,35.250,0.000,3719.000,33.272,421.740,1218.095,653.296,509.718,891.659,33.333,967.788,0.000,476.309,0.000,0.935
$DEVICE_MAMPS,202.488,108.914,638.911,565.279,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,153.022,0.000,0.000,0.000,0.000,0.000,0.000,3719.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,36.827,51.000
$DATA_FILE_SIZE,6436,234
$CFSIZE,260034560,244686848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111007,194337,4740.299,-12251.778,25,2.0,25,18.3