version: 66.02
glider: 116
mission: 6
dive: 257
start: 10 6 107 14 17 36
data:
$ID,116
$MISSION,6
$DIVE,257
$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,-34970.707
$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
$GPS1,140137,4743.342,-12250.784,12,1.2,28,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-63.7
$GPS2,141627,4743.351,-12250.762,11,1.8,11,18.3
$SPEED_LIMITS,0.193,0.216
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.049,0.187
$KALMAN_X,30886.3,68.9,46.3,-27766.3,-60.3
$KALMAN_Y,17418.1,-156.9,44.9,-8771.6,-14.1
$MHEAD_RNG_PITCHd_Wd,356.3,395,-15.6,-7.037
$D_GRID,166
$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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,32,-1.42,-98.7,0.0,0.0,0,106,0.00,0.00,-72.18,0.000,2,0.000,0.000,133,1002,3175
$GC,111,-1.45,-127.1,2.0,-1.7,12,155,15.43,1.70,-23.92,0.000,4,0.203,0.110,2585,163,3801
$GC,406,-1.45,-127.1,21.3,-6.3,56,412,0.00,1.50,0.00,0.000,6,0.000,0.044,2585,1002,3802
$GC,603,-1.45,-127.1,32.8,-5.6,72,604,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,1003,3802
$GC,795,-1.45,-127.1,44.0,-5.7,87,799,0.00,2.47,0.00,0.000,4,0.000,0.040,2585,2416,3802
$GC,953,-1.45,-127.1,53.2,-6.0,98,959,0.00,2.55,0.00,0.000,6,0.000,0.049,2585,1001,3803
$GC,1152,-1.45,-127.1,64.8,-6.1,114,1156,0.00,2.47,0.00,0.000,4,0.000,0.039,2585,2412,3803
$GC,1323,-1.45,-127.1,74.8,-6.0,126,1329,0.00,2.55,0.00,0.000,6,0.000,0.049,2585,1001,3803
$GC,1519,-1.45,-127.1,86.0,-5.7,142,1523,0.00,2.47,0.00,0.000,4,0.000,0.038,2585,2413,3803
$STATE,1688,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1688,begin apogee
$GC,1696,-0.42,0.0,95.2,5.6,155,1851,1.10,0.00,150.27,0.645,6,0.099,0.000,2808,2511,3281
$STATE,1855,end apogee,CONTROL_FINISHED_OK
$STATE,1855,begin climb
$GC,1858,1.45,127.1,96.4,0.0,168,2018,1.88,0.00,147.95,0.615,6,0.058,0.000,3219,2511,2762
$GC,2210,1.45,127.1,61.7,11.6,196,2214,0.00,2.58,0.00,0.000,4,0.000,0.049,3219,1087,2761
$GC,2243,1.45,127.1,57.3,11.5,198,2248,0.00,2.53,0.00,0.000,6,0.000,0.039,3219,2512,2762
$GC,2446,1.45,127.1,34.4,11.1,214,2448,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2512,2761
$GC,2637,1.45,127.1,13.2,11.0,233,2644,0.00,2.58,0.00,0.000,4,0.000,0.048,3219,1083,2761
$GC,2658,1.45,127.1,11.0,11.0,236,2664,0.00,2.55,0.00,0.000,6,0.000,0.039,3219,2519,2761
$GC,2731,1.45,127.1,4.7,7.7,247,2737,0.00,2.58,0.00,0.000,4,0.000,0.071,3219,3894,2761
$STATE,2761,end climb,SURFACE_DEPTH_REACHED
$STATE,2762,begin surface coast
$FINISH,0.6,1.022050
$STATE,2789,end surface coast,CONTROL_FINISHED_OK
$STATE,2789,begin surface
$SM_CCo,2827,120.82,0.574,0,0,1649,400.08
$SM_GC,1.22,0.00,0.00,120.82,0.000,0.000,0.574,136,987,1649,-12.74,-0.37,400.08
$IRIDIUM_FIX,4726.11,-12250.84,061007,181842
$TT8_MAMPS,0.067496
$HUMID,2134
$INTERNAL_PRESSURE,11.4848
$TCM_TEMP,19.70
$XPDR_PINGS,145
$24V_AH,23.9,43.948
$10V_AH,10.0,27.631
$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,32.350,34.000,298.225,120.825,0.000,115.043,115.585,363.858,36.500,0.000,3971.000,11.963,468.589,1557.995,511.275,481.640,844.006,33.344,805.834,0.000,465.616,0.000,2.497
$DEVICE_MAMPS,203.255,109.681,645.047,573.716,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,168.649,0.000,0.000,0.000,0.000,0.000,0.000,3971.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,21.848,51.000
$DATA_FILE_SIZE,6468,256
$CFSIZE,260034560,249266176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,150753,4743.612,-12250.620,10,3.2,29,18.3