version: 66.02
glider: 116
mission: 6
dive: 251
start: 10 6 107 8 9 31
data:
$ID,116
$MISSION,6
$DIVE,251
$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,-34823.812
$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,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
$GPS1,075644,4743.803,-12250.790,13,1.6,30,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-66.0
$GPS2,080823,4743.757,-12250.850,13,3.9,32,18.3
$SPEED_LIMITS,0.193,0.216
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.079,-0.177
$KALMAN_X,30496.5,221.8,18.7,-27613.9,33.2
$KALMAN_Y,17651.2,-4.6,-84.7,-8282.9,-85.1
$MHEAD_RNG_PITCHd_Wd,137.7,391,-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,29,end surface,CONTROL_FINISHED_OK
$STATE,29,begin dive
$GC,33,-1.42,-98.7,0.0,0.0,0,107,0.00,0.00,-71.70,0.000,2,0.000,0.000,135,996,3172
$GC,112,-1.45,-127.1,2.1,-2.1,12,161,15.43,1.67,-24.58,0.000,4,0.203,0.109,2583,166,3801
$GC,413,-1.45,-127.1,22.1,-5.9,56,417,0.00,1.50,0.00,0.000,6,0.000,0.044,2583,1001,3802
$GC,616,-1.45,-127.1,33.1,-5.3,72,620,0.00,2.47,0.00,0.000,4,0.000,0.040,2583,2414,3802
$GC,786,-1.45,-127.1,42.9,-5.8,84,793,0.00,2.58,0.00,0.000,6,0.000,0.049,2583,992,3802
$GC,984,-1.45,-127.1,54.4,-6.0,100,988,0.00,2.50,0.00,0.000,4,0.000,0.039,2584,2412,3802
$GC,1154,-1.45,-127.1,64.9,-6.0,112,1161,0.00,2.55,0.00,0.000,6,0.000,0.049,2583,1000,3802
$GC,1351,-1.45,-127.1,77.5,-6.6,128,1355,0.00,2.47,0.00,0.000,4,0.000,0.038,2583,2419,3802
$GC,1589,-1.45,-127.1,91.3,-5.7,146,1594,0.00,2.58,0.00,0.000,6,0.000,0.049,2583,994,3802
$STATE,1656,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1656,begin apogee
$GC,1667,-0.42,0.0,95.3,5.7,151,1821,1.10,0.00,150.52,0.647,6,0.100,0.000,2806,2505,3281
$STATE,1825,end apogee,CONTROL_FINISHED_OK
$STATE,1825,begin climb
$GC,1829,1.45,127.1,97.0,0.0,164,1989,1.88,2.60,148.55,0.617,4,0.059,0.048,3222,1090,2761
$GC,2022,1.45,127.1,79.9,11.6,179,2028,0.00,2.55,0.00,0.000,6,0.000,0.040,3222,2513,2761
$GC,2219,1.45,127.1,57.4,11.2,195,2223,0.00,2.60,0.00,0.000,4,0.000,0.073,3221,3892,2761
$GC,2266,1.45,127.1,51.8,12.4,198,2270,0.00,2.45,0.00,0.000,6,0.000,0.035,3222,2494,2761
$GC,2462,1.45,127.1,29.2,11.5,213,2466,0.00,2.62,0.00,0.000,4,0.000,0.069,3222,3890,2761
$GC,2495,1.45,127.1,25.3,11.6,215,2500,0.00,2.42,0.00,0.000,6,0.000,0.035,3222,2499,2761
$GC,2699,1.45,127.1,4.9,8.2,241,2704,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,2498,2761
$STATE,2735,end climb,SURFACE_DEPTH_REACHED
$STATE,2735,begin surface coast
$FINISH,0.5,1.020547
$STATE,2756,end surface coast,CONTROL_FINISHED_OK
$STATE,2756,begin surface
$SM_CCo,2791,120.55,0.573,0,0,1649,400.08
$SM_GC,1.25,0.00,0.00,120.55,0.000,0.000,0.573,136,1011,1649,-12.74,0.31,400.08
$IRIDIUM_FIX,4726.11,-12248.15,061007,111114
$TT8_MAMPS,0.06903
$HUMID,2118
$INTERNAL_PRESSURE,11.4848
$TCM_TEMP,19.60
$XPDR_PINGS,143
$24V_AH,23.9,43.310
$10V_AH,10.0,27.155
$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,32.500,39.025,299.075,120.550,0.000,80.176,70.323,292.590,36.000,0.000,3750.000,33.642,462.178,1450.976,510.228,523.172,689.294,33.336,817.851,0.000,481.855,0.000,2.496
$DEVICE_MAMPS,203.255,108.914,646.581,572.949,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,164.687,0.000,0.000,0.000,0.000,0.000,0.000,3750.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,21.848,51.000
$DATA_FILE_SIZE,6437,250
$CFSIZE,260034560,249458688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,085907,4743.486,-12250.630,15,1.3,25,18.3