version: 66.02
glider: 116
mission: 6
dive: 259
start: 10 6 107 16 19 1
data:
$ID,116
$MISSION,6
$DIVE,259
$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,-35015.32
$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,17
$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
$GPS1,160934,4743.608,-12250.837,9,2.5,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-61.0
$GPS2,161751,4743.663,-12250.772,13,1.6,13,18.3
$SPEED_LIMITS,0.193,0.216
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.027,-0.191
$KALMAN_X,31229.2,7.4,9.0,-28031.2,42.3
$KALMAN_Y,17637.1,-116.7,50.7,-8473.4,-24.9
$MHEAD_RNG_PITCHd_Wd,153.6,195,-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,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,-71.68,0.000,2,0.000,0.000,132,1009,3172
$GC,112,-1.45,-127.1,2.0,-1.8,12,161,15.82,2.50,-25.23,0.000,4,0.213,0.051,2581,2419,3801
$GC,413,-1.45,-127.1,20.2,-6.3,58,417,0.00,2.58,0.00,0.000,6,0.000,0.048,2582,995,3802
$GC,616,-1.45,-127.1,31.5,-5.6,74,620,0.00,2.50,0.00,0.000,4,0.000,0.039,2581,2419,3802
$GC,874,-1.45,-127.1,46.5,-6.1,93,878,0.00,2.58,0.00,0.000,6,0.000,0.049,2581,995,3802
$GC,1078,-1.45,-127.1,58.4,-5.5,109,1082,0.00,2.50,0.00,0.000,4,0.000,0.039,2581,2416,3802
$GC,1302,-1.45,-127.1,70.7,-5.4,125,1308,0.00,2.55,0.00,0.000,6,0.000,0.049,2582,1000,3802
$GC,1499,-1.45,-127.1,82.6,-6.2,141,1503,0.00,2.50,0.00,0.000,4,0.000,0.040,2581,2420,3802
$GC,1651,-1.45,-127.1,91.4,-5.5,152,1656,0.00,2.58,0.00,0.000,6,0.000,0.049,2581,996,3802
$STATE,1718,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1718,begin apogee
$GC,1728,-0.42,0.0,95.5,5.8,157,1883,1.10,0.00,150.38,0.645,6,0.100,0.000,2804,2518,3281
$STATE,1887,end apogee,CONTROL_FINISHED_OK
$STATE,1887,begin climb
$GC,1891,1.45,127.1,96.7,0.0,170,2051,1.90,2.62,148.70,0.615,4,0.060,0.048,3226,1087,2761
$GC,2105,1.45,127.1,77.0,11.9,187,2109,0.00,2.55,0.00,0.000,6,0.000,0.040,3226,2512,2762
$GC,2308,1.45,127.1,53.1,11.8,203,2312,0.00,2.60,0.00,0.000,4,0.000,0.074,3225,3890,2761
$GC,2368,1.45,127.1,45.4,13.0,207,2372,0.00,2.45,0.00,0.000,6,0.000,0.036,3225,2485,2761
$GC,2571,1.45,127.1,21.8,11.6,223,2572,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,2484,2761
$GC,2768,1.45,127.1,2.1,8.9,251,2774,0.00,2.62,0.00,0.000,4,0.000,0.067,3226,3890,2760
$STATE,2778,end climb,SURFACE_DEPTH_REACHED
$STATE,2778,begin surface coast
$FINISH,0.5,1.021971
$STATE,2799,end surface coast,CONTROL_FINISHED_OK
$STATE,2799,begin surface
$SM_CCo,2838,120.43,0.571,0,0,1648,400.08
$SM_GC,1.22,0.00,0.00,120.43,0.000,0.000,0.571,133,1011,1648,-12.75,0.31,400.08
$IRIDIUM_FIX,4726.11,-12248.15,061007,191944
$TT8_MAMPS,0.066729
$HUMID,2140
$INTERNAL_PRESSURE,11.4848
$TCM_TEMP,19.70
$XPDR_PINGS,145
$24V_AH,23.9,44.153
$10V_AH,9.9,27.788
$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,32.800,41.100,299.075,120.425,0.000,39.180,39.290,247.673,36.500,0.000,3594.000,13.185,473.825,1419.872,505.119,514.566,568.775,33.347,814.962,0.000,493.135,0.000,2.496
$DEVICE_MAMPS,213.226,73.632,645.047,571.415,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,169.028,0.000,0.000,0.000,0.000,0.000,0.000,3594.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,21.848,51.000
$DATA_FILE_SIZE,6458,256
$CFSIZE,260034560,249196544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,170914,4743.487,-12250.629,10,2.0,15,18.3