version: 66.02
glider: 116
mission: 6
dive: 289
start: 10 8 107 2 55 51
data:
$ID,116
$MISSION,6
$DIVE,289
$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,-35602.152
$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,17
$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
$GPS1,023632,4743.090,-12250.965,13,1.6,30,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-64.7
$GPS2,025421,4742.969,-12250.997,13,1.8,13,18.3
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.186,0.202
$KALMAN_X,32168.6,-133.2,22.2,-29118.5,10.1
$KALMAN_Y,26602.5,-132.8,-97.0,-18548.3,-88.8
$MHEAD_RNG_PITCHd_Wd,24.3,270,-16.3,-10.000
$D_GRID,162
$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,30,end surface,CONTROL_FINISHED_OK
$STATE,30,begin dive
$GC,34,-1.52,-127.1,0.0,0.0,0,120,0.00,0.00,-83.47,0.000,2,0.000,0.000,135,995,3198
$GC,125,-1.52,-127.1,2.2,-2.7,14,175,15.62,1.67,-25.02,0.000,4,0.211,0.111,2569,164,3801
$GC,192,-1.52,-127.1,3.8,-5.5,24,198,0.00,1.52,0.00,0.000,6,0.000,0.047,2568,1004,3801
$GC,266,-1.52,-127.1,9.5,-8.0,35,271,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1003,3801
$GC,339,-1.52,-127.1,14.8,-6.9,46,345,0.00,2.47,0.00,0.000,4,0.000,0.040,2569,2414,3801
$GC,512,-1.52,-127.1,26.1,-6.3,65,516,0.00,2.58,0.00,0.000,6,0.000,0.049,2568,992,3801
$GC,715,-1.52,-127.1,37.8,-6.0,81,719,0.00,2.50,0.00,0.000,4,0.000,0.039,2568,2413,3802
$GC,802,-1.52,-127.1,43.3,-6.2,87,806,0.00,2.58,0.00,0.000,6,0.000,0.050,2568,993,3802
$GC,999,-1.52,-127.1,55.5,-5.8,102,1003,0.00,2.50,0.00,0.000,4,0.000,0.039,2568,2413,3802
$GC,1150,-1.52,-127.1,64.0,-5.5,113,1157,0.00,2.55,0.00,0.000,6,0.000,0.049,2569,1000,3802
$GC,1347,-1.52,-127.1,76.2,-6.4,129,1351,0.00,2.50,0.00,0.000,4,0.000,0.038,2568,2421,3802
$STATE,1356,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1356,begin apogee
$GC,1365,-0.42,0.0,77.0,6.4,129,1519,1.20,0.00,150.12,0.636,6,0.101,0.000,2809,2518,3281
$STATE,1524,end apogee,CONTROL_FINISHED_OK
$STATE,1524,begin climb
$GC,1527,1.52,127.1,78.9,0.0,142,1688,1.92,2.62,148.85,0.606,4,0.058,0.048,3240,1091,2761
$GC,1721,1.52,127.1,61.7,11.9,157,1727,0.00,2.55,0.00,0.000,6,0.000,0.040,3239,2512,2761
$GC,1917,1.52,127.1,38.0,12.0,173,1918,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,2511,2760
$GC,2108,1.52,127.1,15.7,11.4,191,2114,0.00,2.60,0.00,0.000,4,0.000,0.072,3240,3891,2760
$GC,2221,1.52,127.1,3.1,11.2,208,2227,0.00,2.45,0.00,0.000,6,0.000,0.036,3238,2486,2760
$STATE,2231,end climb,SURFACE_DEPTH_REACHED
$STATE,2231,begin surface coast
$FINISH,0.7,1.001174
$STATE,2252,end surface coast,CONTROL_FINISHED_OK
$STATE,2252,begin surface
$SM_CCo,2289,142.65,0.565,0,0,1445,450.13
$SM_GC,1.35,0.00,0.00,142.65,0.000,0.000,0.565,133,1013,1445,-12.75,0.37,450.13
$IRIDIUM_FIX,4726.11,-12253.53,081007,060639
$TT8_MAMPS,0.067496
$HUMID,2104
$INTERNAL_PRESSURE,11.4555
$TCM_TEMP,19.70
$XPDR_PINGS,122
$24V_AH,23.9,47.548
$10V_AH,10.0,30.600
$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,33.025,33.975,298.975,142.650,0.000,155.608,339.625,221.075,30.500,0.000,3666.000,13.583,408.488,1230.485,544.517,403.178,962.333,33.326,809.775,0.000,386.208,0.000,0.937
$DEVICE_MAMPS,210.925,111.215,635.843,564.512,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,138.974,0.000,0.000,0.000,0.000,0.000,0.000,3666.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,32.963,51.000
$DATA_FILE_SIZE,6467,213
$CFSIZE,260034560,247951360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081007,033735,4743.052,-12250.843,12,2.1,31,18.3