version: 66.02
glider: 116
mission: 6
dive: 253
start: 10 6 107 10 11 18
data:
$ID,116
$MISSION,6
$DIVE,253
$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,-34854.711
$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,17
$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
$GPS1,100237,4743.709,-12250.748,14,1.7,24,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-66.2
$GPS2,101009,4743.699,-12250.782,17,1.7,17,18.3
$SPEED_LIMITS,0.193,0.216
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.050,-0.187
$KALMAN_X,30718.3,187.8,0.5,-27701.7,8.1
$KALMAN_Y,17664.1,-74.7,-79.2,-8339.0,-5.4
$MHEAD_RNG_PITCHd_Wd,146.8,262,-15.6,-7.037
$D_GRID,169
$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,-1.42,-98.7,0.0,0.0,0,108,0.00,0.00,-71.72,0.000,2,0.000,0.000,133,1009,3177
$GC,113,-1.45,-127.1,2.1,-2.0,12,162,15.40,1.73,-24.48,0.000,4,0.202,0.110,2583,160,3800
$GC,406,-1.45,-127.1,21.7,-6.8,55,413,0.00,1.52,0.00,0.000,6,0.000,0.044,2583,1008,3802
$GC,603,-1.45,-127.1,32.9,-5.8,71,607,0.00,2.47,0.00,0.000,4,0.000,0.040,2583,2419,3802
$GC,835,-1.45,-127.1,46.2,-6.2,88,839,0.00,2.58,0.00,0.000,6,0.000,0.049,2583,996,3801
$GC,1031,-1.45,-127.1,57.8,-5.8,103,1035,0.00,2.50,0.00,0.000,4,0.000,0.039,2583,2416,3802
$GC,1242,-1.45,-127.1,69.3,-5.5,118,1249,0.00,2.58,0.00,0.000,6,0.000,0.050,2583,995,3802
$GC,1439,-1.45,-127.1,80.1,-5.9,134,1443,0.00,2.50,0.00,0.000,4,0.000,0.039,2583,2420,3802
$GC,1618,-1.45,-127.1,89.5,-5.4,147,1625,0.00,2.58,0.00,0.000,6,0.000,0.050,2583,993,3802
$STATE,1723,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1723,begin apogee
$GC,1734,-0.42,0.0,95.4,5.5,156,1888,1.10,0.00,150.25,0.644,6,0.099,0.000,2807,2514,3281
$STATE,1892,end apogee,CONTROL_FINISHED_OK
$STATE,1892,begin climb
$GC,1896,1.45,127.1,96.6,0.0,169,2056,1.88,2.62,148.25,0.617,4,0.058,0.048,3223,1085,2761
$GC,2083,1.45,127.1,80.0,11.6,184,2088,0.00,2.58,0.00,0.000,6,0.000,0.040,3224,2519,2761
$GC,2282,1.45,127.1,57.8,11.1,199,2286,0.00,2.58,0.00,0.000,4,0.000,0.072,3223,3887,2761
$GC,2329,1.45,127.1,51.9,12.1,202,2333,0.00,2.45,0.00,0.000,6,0.000,0.036,3224,2494,2761
$GC,2525,1.45,127.1,29.2,11.5,217,2526,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2493,2761
$GC,2719,1.45,127.1,8.6,9.0,240,2725,0.00,2.62,0.00,0.000,4,0.000,0.067,3223,3890,2761
$STATE,2789,end climb,SURFACE_DEPTH_REACHED
$STATE,2789,begin surface coast
$FINISH,0.5,1.003544
$STATE,2809,end surface coast,CONTROL_FINISHED_OK
$STATE,2809,begin surface
$SM_CCo,2845,120.88,0.577,0,0,1650,400.08
$SM_GC,1.17,0.00,0.00,120.88,0.000,0.000,0.577,136,1001,1650,-12.74,0.03,400.08
$IRIDIUM_FIX,4726.11,-12250.84,061007,131318
$TT8_MAMPS,0.067496
$HUMID,2133
$INTERNAL_PRESSURE,11.4848
$TCM_TEMP,19.60
$XPDR_PINGS,163
$24V_AH,23.9,43.520
$10V_AH,10.0,27.312
$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,32.525,39.300,298.500,120.875,0.000,40.377,36.919,209.295,41.000,8.300,3539.700,17.360,470.332,1436.866,511.047,510.098,514.757,33.337,816.202,0.000,484.955,0.000,2.497
$DEVICE_MAMPS,202.488,110.448,644.280,576.784,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,167.389,0.000,0.000,0.000,0.000,0.000,0.000,3548.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,21.848,51.000
$DATA_FILE_SIZE,6469,254
$CFSIZE,260034560,249397248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,110153,4743.416,-12250.604,10,3.2,29,18.3