version: 66.02
glider: 116
mission: 6
dive: 246
start: 10 6 107 2 50 12
data:
$ID,116
$MISSION,6
$DIVE,246
$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,-34678.301
$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,23
$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
$GPS1,022637,4743.535,-12250.908,25,1.7,26,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-60.7
$GPS2,024903,4743.512,-12250.835,14,1.9,14,18.3
$SPEED_LIMITS,0.193,0.216
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.134,0.140
$KALMAN_X,29849.2,360.6,135.3,-27205.8,14.5
$KALMAN_Y,17945.7,146.2,48.5,-9315.3,-36.6
$MHEAD_RNG_PITCHd_Wd,25.4,167,-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,30,end surface,CONTROL_FINISHED_OK
$STATE,30,begin dive
$GC,34,-1.42,-98.7,0.0,0.0,0,160,0.00,0.00,-122.68,0.000,2,0.000,0.000,134,989,3356
$GC,164,-1.45,-127.1,2.3,-2.8,20,201,15.50,1.60,-14.48,0.000,4,0.207,0.107,2582,168,3800
$GC,440,-1.45,-127.1,20.9,-6.1,61,444,0.00,1.50,0.00,0.000,6,0.000,0.044,2582,1002,3801
$GC,643,-1.45,-127.1,32.8,-5.8,77,648,0.00,2.47,0.00,0.000,4,0.000,0.041,2582,2413,3802
$GC,822,-1.45,-127.1,42.7,-5.1,90,827,0.00,2.55,0.00,0.000,6,0.000,0.049,2581,1002,3801
$GC,1019,-1.45,-127.1,54.3,-5.9,105,1023,0.00,2.47,0.00,0.000,4,0.000,0.040,2582,2411,3802
$GC,1198,-1.45,-127.1,64.4,-6.0,118,1205,0.00,2.55,0.00,0.000,6,0.000,0.049,2582,996,3802
$GC,1395,-1.45,-127.1,76.1,-6.0,134,1399,0.00,2.50,0.00,0.000,4,0.000,0.039,2582,2419,3802
$GC,1540,-1.45,-127.1,84.4,-5.9,144,1547,0.00,2.58,0.00,0.000,6,0.000,0.049,2582,992,3802
$STATE,1733,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1734,begin apogee
$GC,1744,-0.42,0.0,95.6,5.7,160,1898,1.12,0.00,150.55,0.644,6,0.099,0.000,2810,2514,3280
$STATE,1903,end apogee,CONTROL_FINISHED_OK
$STATE,1903,begin climb
$GC,1906,1.45,127.1,96.9,0.0,173,2067,1.88,2.60,148.43,0.614,4,0.058,0.048,3221,1095,2762
$GC,2136,1.45,127.1,75.7,11.4,191,2141,0.00,2.55,0.00,0.000,6,0.000,0.041,3221,2518,2762
$GC,2332,1.45,127.1,52.5,11.7,206,2334,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,2518,2761
$GC,2526,1.45,127.1,30.8,11.3,221,2532,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,2518,2761
$GC,2727,1.45,127.1,8.6,10.0,245,2733,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,2518,2761
$GC,2801,1.45,127.1,2.2,8.2,256,2807,0.00,2.55,0.00,0.000,4,0.000,0.047,3221,1095,2762
$STATE,2811,end climb,SURFACE_DEPTH_REACHED
$STATE,2811,begin surface coast
$FINISH,0.5,1.011265
$STATE,2832,end surface coast,CONTROL_FINISHED_OK
$STATE,2832,begin surface
$SM_CCo,2865,120.03,0.570,0,0,1649,400.08
$SM_GC,1.19,0.00,0.00,120.03,0.000,0.000,0.570,133,989,1649,-12.75,-0.31,400.08
$IRIDIUM_FIX,4726.11,-12250.84,061007,060628
$TT8_MAMPS,0.067496
$HUMID,2123
$INTERNAL_PRESSURE,11.4946
$TCM_TEMP,19.70
$XPDR_PINGS,119
$24V_AH,23.9,42.765
$10V_AH,10.0,26.744
$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,32.500,28.875,298.975,120.025,0.000,193.505,250.468,469.823,30.000,0.000,4582.000,14.731,467.009,1678.412,528.064,506.163,1177.193,33.327,846.437,0.000,485.745,0.000,2.497
$DEVICE_MAMPS,207.090,106.613,643.513,569.881,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,171.399,0.000,0.000,0.000,0.000,0.000,0.000,4582.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,21.848,51.000
$DATA_FILE_SIZE,6433,261
$CFSIZE,260034560,249610240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,034105,4743.682,-12250.515,7,2.4,27,18.3