version: 66.02
glider: 116
mission: 6
dive: 286
start: 10 8 107 0 3 54
data:
$ID,116
$MISSION,6
$DIVE,286
$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,30
$T_MISSION,45
$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,130
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$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,-35537.859
$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,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
$GPS1,235337,4743.090,-12250.763,10,1.4,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-63.6
$GPS2,000221,4743.077,-12250.738,13,1.4,13,18.3
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.260,0.088
$KALMAN_X,32228.9,-214.7,-20.3,-28733.4,26.3
$KALMAN_Y,26941.7,78.6,50.3,-19045.2,-99.0
$MHEAD_RNG_PITCHd_Wd,270.4,111,-16.3,-10.000
$D_GRID,164
$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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,32,-1.52,-127.1,0.0,0.0,0,118,0.00,0.00,-83.55,0.000,2,0.000,0.000,133,1006,3197
$GC,122,-1.52,-127.1,2.0,-2.4,14,166,15.82,1.73,-23.50,0.000,4,0.214,0.112,2569,160,3800
$GC,253,-1.52,-127.1,9.1,-7.0,34,259,0.00,1.52,0.00,0.000,6,0.000,0.046,2569,1003,3801
$GC,327,-1.52,-127.1,14.8,-8.8,45,333,0.00,2.47,0.00,0.000,4,0.000,0.041,2569,2411,3802
$GC,585,-1.52,-127.1,32.1,-5.5,69,591,0.00,2.55,0.00,0.000,6,0.000,0.049,2569,1001,3802
$GC,782,-1.52,-127.1,43.4,-5.9,85,786,0.00,2.50,0.00,0.000,4,0.000,0.040,2569,2420,3802
$GC,1040,-1.52,-127.1,58.6,-5.9,104,1044,0.00,2.58,0.00,0.000,6,0.000,0.051,2569,1000,3802
$GC,1244,-1.52,-127.1,70.4,-6.2,120,1248,0.00,2.50,0.00,0.000,4,0.000,0.039,2569,2420,3802
$STATE,1362,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1362,begin apogee
$GC,1370,-0.42,0.0,77.3,5.0,128,1524,1.20,0.00,149.32,0.639,6,0.104,0.000,2809,2517,3281
$STATE,1528,end apogee,CONTROL_FINISHED_OK
$STATE,1528,begin climb
$GC,1532,1.52,127.1,78.7,0.0,141,1692,1.92,2.62,148.60,0.605,4,0.061,0.050,3234,1092,2761
$GC,1733,1.52,127.1,59.8,12.3,157,1738,0.00,2.55,0.00,0.000,6,0.000,0.041,3234,2511,2761
$GC,1930,1.52,127.1,36.5,12.2,172,1934,0.00,2.60,0.00,0.000,4,0.000,0.074,3234,3890,2761
$GC,2035,1.52,127.1,23.0,12.4,179,2042,0.00,2.45,0.00,0.000,6,0.000,0.036,3234,2487,2761
$GC,2240,1.52,127.1,2.4,10.4,208,2245,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,2487,2760
$STATE,2249,end climb,SURFACE_DEPTH_REACHED
$STATE,2249,begin surface coast
$FINISH,0.7,1.010957
$STATE,2270,end surface coast,CONTROL_FINISHED_OK
$STATE,2271,begin surface
$SM_CCo,2307,142.35,0.565,0,0,1445,450.13
$SM_GC,1.32,0.00,0.00,142.35,0.000,0.000,0.565,137,1005,1445,-12.73,0.14,450.13
$IRIDIUM_FIX,4726.11,-12243.73,081007,030308
$TT8_MAMPS,0.068263
$HUMID,2089
$INTERNAL_PRESSURE,11.4458
$TCM_TEMP,19.60
$XPDR_PINGS,128
$24V_AH,23.9,47.212
$10V_AH,10.0,30.372
$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,33.200,28.975,297.925,142.350,0.000,37.861,42.262,272.430,32.000,0.000,3123.000,13.229,413.563,1049.272,532.068,444.191,585.012,33.340,808.655,0.000,424.131,0.000,0.936
$DEVICE_MAMPS,213.993,111.982,638.911,565.279,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,139.275,0.000,0.000,0.000,0.000,0.000,0.000,3123.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,32.963,51.000
$DATA_FILE_SIZE,6443,213
$CFSIZE,260034560,248045568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081007,004553,4743.154,-12251.011,10,2.1,29,18.3