version: 66.02
glider: 116
mission: 6
dive: 245
start: 10 6 107 1 33 31
data:
$ID,116
$MISSION,6
$DIVE,245
$D_SURF,2
$D_FLARE,2
$D_TGT,95
$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,45
$T_MISSION,90
$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,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,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-34662.941
$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,20
$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
$GPS1,011147,4743.587,-12250.535,13,2.3,32,18.3
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-65.8
$GPS2,013223,4743.576,-12250.536,12,3.1,31,18.3
$SPEED_LIMITS,0.193,0.216
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.191,-0.028
$KALMAN_X,29741.5,347.0,131.0,-26707.7,53.4
$KALMAN_Y,17995.3,145.2,29.3,-9226.5,18.3
$MHEAD_RNG_PITCHd_Wd,243.3,236,-15.6,-7.037
$D_GRID,168
$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,29,end surface,CONTROL_FINISHED_OK
$STATE,29,begin dive
$GC,33,-1.42,-98.7,0.0,0.0,0,107,0.00,0.00,-71.75,0.000,2,0.000,0.000,133,993,3173
$GC,112,-1.45,-127.1,2.1,-2.1,12,161,15.43,1.65,-25.35,0.000,4,0.202,0.108,2586,168,3800
$GC,320,-1.45,-127.1,14.4,-6.5,44,326,0.00,1.50,0.00,0.000,6,0.000,0.044,2585,1002,3801
$GC,396,-1.45,-127.1,18.4,-5.6,55,402,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1003,3801
$GC,474,-1.45,-127.1,23.0,-5.8,63,478,0.00,2.47,0.00,0.000,4,0.000,0.040,2586,2416,3801
$GC,548,-1.45,-127.1,27.2,-6.0,68,552,0.00,2.55,0.00,0.000,6,0.000,0.054,2586,1002,3802
$GC,744,-1.45,-127.1,38.4,-5.4,83,748,0.00,2.47,0.00,0.000,4,0.000,0.039,2585,2411,3801
$GC,968,-1.45,-127.1,50.8,-5.6,99,975,0.00,2.55,0.00,0.000,6,0.000,0.049,2586,999,3801
$GC,1165,-1.45,-127.1,62.0,-5.8,115,1169,0.00,2.50,0.00,0.000,4,0.000,0.040,2586,2420,3802
$GC,1331,-1.45,-127.1,71.1,-5.1,127,1335,0.00,2.58,0.00,0.000,6,0.000,0.050,2585,995,3801
$GC,1527,-1.45,-127.1,81.9,-5.7,142,1532,0.00,2.50,0.00,0.000,4,0.000,0.039,2585,2417,3801
$STATE,1761,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1762,begin apogee
$GC,1770,-0.42,0.0,95.3,5.7,159,1924,1.10,0.00,149.90,0.645,6,0.097,0.000,2809,2515,3281
$STATE,1928,end apogee,CONTROL_FINISHED_OK
$STATE,1928,begin climb
$GC,1932,1.45,127.1,96.2,0.0,172,2091,1.88,0.00,148.85,0.613,6,0.058,0.000,3219,2515,2761
$GC,2279,1.45,127.1,60.6,11.7,200,2280,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,2515,2760
$GC,2470,1.45,127.1,39.0,11.5,215,2471,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,2515,2761
$GC,2660,1.45,127.1,17.6,11.2,231,2666,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2515,2760
$GC,2733,1.45,127.1,9.2,11.0,242,2738,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,2515,2761
$GC,2806,1.45,127.1,3.3,7.6,253,2812,0.00,2.58,0.00,0.000,4,0.000,0.073,3220,3884,2760
$STATE,2823,end climb,SURFACE_DEPTH_REACHED
$STATE,2823,begin surface coast
$FINISH,0.6,1.004596
$STATE,2850,end surface coast,CONTROL_FINISHED_OK
$STATE,2850,begin surface
$SM_CCo,2888,232.43,0.561,0,0,640,647.84
$SM_GC,1.16,0.00,0.00,232.43,0.000,0.000,0.561,134,989,640,-12.75,-0.31,647.84
$IRIDIUM_FIX,4726.11,-12252.58,061007,050554
$TT8_MAMPS,0.069797
$HUMID,2122
$INTERNAL_PRESSURE,11.3969
$TCM_TEMP,19.70
$XPDR_PINGS,124
$24V_AH,23.9,42.634
$10V_AH,10.0,26.645
$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,32.450,28.775,298.750,232.425,0.000,189.063,354.076,244.145,31.250,0.000,4383.000,32.698,474.084,1702.068,636.118,510.833,1061.171,33.322,933.327,0.000,481.189,0.000,2.497
$DEVICE_MAMPS,202.488,108.147,645.047,560.677,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,171.243,0.000,0.000,0.000,0.000,0.000,0.000,4383.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,21.848,51.000
$DATA_FILE_SIZE,6438,260
$CFSIZE,260034560,249634816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,022637,4743.535,-12250.908,25,1.7,26,18.3