version: 66.02
glider: 116
mission: 6
dive: 215
start: 10 4 107 23 58 25
data:
$ID,116
$MISSION,6
$DIVE,215
$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,-33988.648
$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,15
$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,3
$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
$GPS1,234955,4743.529,-12250.747,33,1.4,38,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-64.4
$GPS2,235714,4743.475,-12250.796,10,1.4,15,18.3
$SPEED_LIMITS,0.193,0.216
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.101,0.165
$KALMAN_X,29548.9,-68.2,-62.1,-26227.1,-127.1
$KALMAN_Y,19534.9,-260.2,-154.9,-10362.0,-186.0
$MHEAD_RNG_PITCHd_Wd,13.4,186,-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,31,end surface,CONTROL_FINISHED_OK
$STATE,31,begin dive
$GC,35,-1.42,-98.7,0.0,0.0,0,115,0.00,0.00,-77.43,0.000,2,0.000,0.000,136,989,3268
$GC,119,-1.45,-127.1,2.3,-3.2,13,156,15.30,0.00,-18.67,0.000,6,0.200,0.000,2582,989,3799
$GC,223,-1.45,-127.1,8.4,-7.2,29,229,0.00,2.53,0.00,0.000,4,0.000,0.040,2582,2420,3802
$GC,479,-1.45,-127.1,24.1,-5.5,62,483,0.00,2.58,0.00,0.000,6,0.000,0.049,2582,999,3801
$GC,675,-1.45,-127.1,35.6,-6.0,77,679,0.00,2.50,0.00,0.000,4,0.000,0.039,2582,2422,3803
$GC,807,-1.45,-127.1,43.3,-5.3,86,813,0.00,2.58,0.00,0.000,6,0.000,0.050,2582,993,3802
$GC,1003,-1.45,-127.1,54.8,-5.9,102,1007,0.00,2.50,0.00,0.000,4,0.000,0.039,2582,2422,3802
$GC,1109,-1.45,-127.1,60.8,-5.8,110,1113,0.00,2.58,0.00,0.000,6,0.000,0.050,2582,996,3802
$GC,1312,-1.45,-127.1,72.4,-5.6,126,1317,0.00,2.50,0.00,0.000,4,0.000,0.038,2582,2418,3802
$GC,1478,-1.45,-127.1,81.5,-5.3,138,1482,0.00,2.58,0.00,0.000,6,0.000,0.050,2582,994,3802
$GC,1674,-1.45,-127.1,92.7,-6.0,153,1679,0.00,2.50,0.00,0.000,4,0.000,0.040,2582,2417,3802
$STATE,1718,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1718,begin apogee
$GC,1726,-0.42,0.0,95.1,5.4,156,1881,1.10,0.00,150.30,0.644,6,0.097,0.000,2807,2514,3281
$STATE,1885,end apogee,CONTROL_FINISHED_OK
$STATE,1885,begin climb
$GC,1888,1.45,127.1,96.1,0.0,169,2046,1.88,2.62,148.40,0.615,4,0.057,0.049,3219,1088,2761
$GC,2112,1.45,127.1,75.8,11.4,187,2117,0.00,2.55,0.00,0.000,6,0.000,0.040,3219,2512,2761
$GC,2308,1.45,127.1,53.2,11.4,202,2313,0.00,2.60,0.00,0.000,4,0.000,0.072,3218,3892,2761
$GC,2334,1.45,127.1,50.1,12.4,203,2340,0.00,2.45,0.00,0.000,6,0.000,0.036,3219,2492,2762
$GC,2530,1.45,127.1,27.9,11.4,219,2531,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2491,2760
$GC,2725,1.45,127.1,7.6,9.3,243,2731,0.00,2.62,0.00,0.000,4,0.000,0.067,3219,3890,2760
$STATE,2781,end climb,SURFACE_DEPTH_REACHED
$STATE,2781,begin surface coast
$FINISH,0.4,1.016733
$STATE,2802,end surface coast,CONTROL_FINISHED_OK
$STATE,2802,begin surface
$SM_CCo,2849,120.03,0.572,0,0,1650,400.08
$SM_GC,1.02,0.00,0.00,120.03,0.000,0.000,0.572,134,1009,1650,-12.75,0.25,400.08
$IRIDIUM_FIX,4726.11,-12246.42,051007,020224
$TT8_MAMPS,0.087438
$HUMID,2122
$INTERNAL_PRESSURE,11.4848
$TCM_TEMP,19.70
$XPDR_PINGS,20
$24V_AH,23.9,39.350
$10V_AH,9.9,24.572
$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,32.150,41.075,298.700,120.025,0.000,39.841,39.111,180.545,5.250,0.000,3547.000,18.157,439.906,1500.829,499.091,499.411,480.395,33.340,808.714,0.000,482.166,0.000,2.495
$DEVICE_MAMPS,200.187,72.098,644.280,572.182,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,168.215,0.000,0.000,0.000,0.000,0.000,0.000,3547.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,20.056,51.000
$DATA_FILE_SIZE,6453,255
$CFSIZE,260034560,250556416
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,004844,4743.603,-12250.616,10,1.3,10,18.3