version: 66.02
glider: 116
mission: 6
dive: 258
start: 10 6 107 15 19 15
data:
$ID,116
$MISSION,6
$DIVE,258
$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,-35001.508
$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,13
$R_STBD_OVSHOOT,20
$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
$GPS1,150753,4743.612,-12250.620,10,3.2,29,18.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-59.0
$GPS2,151807,4743.646,-12250.564,14,2.0,30,18.3
$SPEED_LIMITS,0.193,0.216
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.167,-0.097
$KALMAN_X,31002.2,45.4,40.4,-27612.8,-67.1
$KALMAN_Y,17387.2,-131.3,76.0,-8260.3,-77.8
$MHEAD_RNG_PITCHd_Wd,221.7,252,-15.6,-7.037
$D_GRID,168
$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,-98.7,0.0,0.0,0,109,0.00,0.00,-71.75,0.000,2,0.000,0.000,136,988,3175
$GC,113,-1.45,-127.1,2.0,-2.2,12,157,15.52,1.67,-23.50,0.000,4,0.206,0.110,2582,160,3800
$GC,187,-1.45,-127.1,6.0,-8.6,23,193,0.00,1.52,0.00,0.000,6,0.000,0.044,2582,1004,3801
$GC,260,-1.45,-127.1,11.5,-7.3,34,266,0.00,2.47,0.00,0.000,4,0.000,0.041,2582,2413,3802
$GC,411,-1.45,-127.1,20.5,-5.2,56,417,0.00,2.55,0.00,0.000,6,0.000,0.048,2582,999,3802
$GC,608,-1.45,-127.1,31.7,-5.6,72,612,0.00,2.50,0.00,0.000,4,0.000,0.039,2582,2418,3802
$GC,767,-1.45,-127.1,40.3,-5.1,83,773,0.00,2.58,0.00,0.000,6,0.000,0.049,2582,992,3802
$GC,964,-1.45,-127.1,52.0,-5.7,99,968,0.00,2.50,0.00,0.000,4,0.000,0.038,2582,2414,3802
$GC,1143,-1.45,-127.1,62.2,-5.8,112,1147,0.00,2.58,0.00,0.000,6,0.000,0.050,2582,993,3802
$GC,1340,-1.45,-127.1,73.9,-5.9,127,1344,0.00,2.50,0.00,0.000,4,0.000,0.039,2582,2415,3802
$GC,1538,-1.45,-127.1,85.1,-5.6,141,1544,0.00,2.58,0.00,0.000,6,0.000,0.050,2582,989,3802
$STATE,1707,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1707,begin apogee
$GC,1718,-0.42,0.0,95.2,6.2,155,1872,1.12,0.00,150.10,0.647,6,0.100,0.000,2810,2512,3281
$STATE,1876,end apogee,CONTROL_FINISHED_OK
$STATE,1876,begin climb
$GC,1880,1.45,127.1,97.2,0.0,168,2041,1.88,2.60,148.15,0.617,4,0.058,0.048,3224,1094,2761
$GC,2100,1.45,127.1,77.4,11.5,185,2107,0.00,2.55,0.00,0.000,6,0.000,0.041,3221,2514,2761
$GC,2297,1.45,127.1,55.6,11.2,201,2301,0.00,2.60,0.00,0.000,4,0.000,0.074,3221,3890,2761
$GC,2349,1.45,127.1,49.1,12.1,204,2355,0.00,2.45,0.00,0.000,6,0.000,0.036,3221,2490,2762
$GC,2545,1.45,127.1,26.9,11.1,220,2546,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,2490,2760
$GC,2740,1.45,127.1,6.2,9.7,245,2746,0.00,2.65,0.00,0.000,4,0.000,0.070,3221,3896,2760
$STATE,2784,end climb,SURFACE_DEPTH_REACHED
$STATE,2784,begin surface coast
$FINISH,0.7,1.022046
$STATE,2791,end surface coast,CONTROL_FINISHED_OK
$STATE,2791,begin surface
$SM_CCo,2829,120.68,0.574,0,0,1649,400.08
$SM_GC,1.28,0.00,0.00,120.68,0.000,0.000,0.574,133,1008,1649,-12.76,0.25,400.08
$IRIDIUM_FIX,4726.11,-12250.84,061007,191923
$TT8_MAMPS,0.072098
$HUMID,2139
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,19.80
$XPDR_PINGS,157
$24V_AH,23.9,44.051
$10V_AH,10.0,27.711
$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,32.400,44.325,298.250,120.675,0.000,75.951,80.518,217.552,39.500,0.000,3701.000,30.173,468.692,1473.987,513.268,518.860,614.009,33.339,825.138,0.000,482.865,0.000,2.496
$DEVICE_MAMPS,206.323,109.681,647.348,573.716,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,166.372,0.000,0.000,0.000,0.000,0.000,0.000,3701.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,21.848,51.000
$DATA_FILE_SIZE,6449,253
$CFSIZE,260034560,249233408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,160934,4743.608,-12250.837,9,2.5,28,18.3