version: 66.02
glider: 116
mission: 6
dive: 252
start: 10 6 107 9 11 15
data:
$ID,116
$MISSION,6
$DIVE,252
$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,400
$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,-34836.723
$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
$GPS1,085907,4743.486,-12250.630,15,1.3,25,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-65.6
$GPS2,091003,4743.488,-12250.616,12,1.7,12,18.3
$SPEED_LIMITS,0.193,0.216
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.119,0.152
$KALMAN_X,30584.6,208.4,15.6,-27395.6,-4.3
$KALMAN_Y,17667.9,-42.7,-95.5,-8751.2,-26.0
$MHEAD_RNG_PITCHd_Wd,303.7,194,-15.6,-7.037
$D_GRID,167
$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,31,-1.42,-98.7,0.0,0.0,0,111,0.00,0.00,-77.68,0.000,2,0.000,0.000,136,1012,3312
$GC,116,-1.45,-127.1,2.4,-3.0,13,154,15.48,2.55,-16.23,0.000,4,0.206,0.051,2583,2419,3801
$GC,405,-1.45,-127.1,21.5,-5.7,55,410,0.00,2.58,0.00,0.000,6,0.000,0.049,2583,997,3802
$GC,609,-1.45,-127.1,32.9,-5.4,71,613,0.00,2.50,0.00,0.000,4,0.000,0.039,2583,2415,3802
$GC,806,-1.45,-127.1,43.6,-5.4,85,812,0.00,2.55,0.00,0.000,6,0.000,0.049,2583,1002,3802
$GC,1003,-1.45,-127.1,54.7,-5.5,101,1007,0.00,2.50,0.00,0.000,4,0.000,0.039,2583,2423,3802
$GC,1187,-1.45,-127.1,64.4,-5.2,114,1194,0.00,2.58,0.00,0.000,6,0.000,0.049,2583,999,3802
$GC,1384,-1.45,-127.1,74.9,-5.4,130,1388,0.00,2.50,0.00,0.000,4,0.000,0.039,2583,2421,3802
$GC,1521,-1.45,-127.1,81.6,-5.0,139,1527,0.00,2.58,0.00,0.000,6,0.000,0.049,2583,994,3802
$GC,1717,-1.45,-127.1,92.8,-5.9,155,1721,0.00,2.50,0.00,0.000,4,0.000,0.039,2583,2418,3802
$STATE,1754,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1754,begin apogee
$GC,1762,-0.42,0.0,95.2,5.4,158,1917,1.10,0.00,150.50,0.647,6,0.100,0.000,2806,2515,3281
$STATE,1921,end apogee,CONTROL_FINISHED_OK
$STATE,1921,begin climb
$GC,1924,1.45,127.1,96.8,0.0,171,2085,1.90,2.62,147.95,0.617,4,0.058,0.048,3221,1086,2761
$GC,2131,1.45,127.1,78.4,11.5,187,2138,0.00,2.55,0.00,0.000,6,0.000,0.040,3221,2511,2761
$GC,2328,1.45,127.1,55.7,11.7,203,2332,0.00,2.60,0.00,0.000,4,0.000,0.072,3221,3890,2761
$GC,2353,1.45,127.1,52.4,12.4,204,2360,0.00,2.45,0.00,0.000,6,0.000,0.036,3221,2493,2761
$GC,2550,1.45,127.1,29.9,11.2,220,2551,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,2491,2761
$GC,2743,1.45,127.1,9.3,10.5,242,2748,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,2491,2761
$GC,2816,1.45,127.1,3.3,7.9,253,2822,0.00,2.62,0.00,0.000,4,0.000,0.067,3221,3894,2760
$STATE,2834,end climb,SURFACE_DEPTH_REACHED
$STATE,2834,begin surface coast
$FINISH,0.5,1.000359
$STATE,2860,end surface coast,CONTROL_FINISHED_OK
$STATE,2860,begin surface
$SM_CCo,2898,120.65,0.574,0,0,1649,400.08
$SM_GC,1.30,0.00,0.00,120.65,0.000,0.000,0.574,133,1008,1649,-12.75,0.25,400.08
$IRIDIUM_FIX,4726.11,-12250.84,061007,131339
$TT8_MAMPS,0.066729
$HUMID,2138
$INTERNAL_PRESSURE,11.4848
$TCM_TEMP,19.70
$XPDR_PINGS,164
$24V_AH,23.9,43.417
$10V_AH,10.0,27.237
$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,32.650,41.075,298.450,120.650,0.000,81.831,72.424,272.440,41.250,0.000,3807.000,12.282,480.639,1528.621,507.824,511.145,675.631,33.363,824.131,0.000,492.260,0.000,2.497
$DEVICE_MAMPS,205.556,72.098,646.581,573.716,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,171.311,0.000,0.000,0.000,0.000,0.000,0.000,3807.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,21.848,51.000
$DATA_FILE_SIZE,6418,260
$CFSIZE,260034560,249421824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,100237,4743.709,-12250.748,14,1.7,24,18.3