version: 66.02
glider: 116
mission: 6
dive: 260
start: 10 6 107 17 22 31
data:
$ID,116
$MISSION,6
$DIVE,260
$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,-35051.539
$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,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
$GPS1,170914,4743.487,-12250.629,10,2.0,15,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-58.8
$GPS2,172123,4743.575,-12250.514,15,2.7,34,18.3
$SPEED_LIMITS,0.193,0.216
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.201,-0.080
$KALMAN_X,31470.1,-10.9,11.8,-27932.9,125.7
$KALMAN_Y,17994.3,-121.6,6.7,-8944.7,214.7
$MHEAD_RNG_PITCHd_Wd,230.1,18367696,-13.3,-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,-1.27,-127.1,0.0,0.0,0,109,0.00,0.00,-72.07,0.000,2,0.000,0.000,133,1011,3174
$GC,113,-1.27,-127.1,2.1,-2.1,12,162,16.00,1.73,-24.00,0.000,4,0.211,0.110,2623,162,3801
$GC,186,-1.27,-127.1,5.2,-6.7,23,192,0.00,1.52,0.00,0.000,6,0.000,0.046,2622,1004,3801
$GC,260,-1.27,-127.1,10.2,-6.7,34,266,0.00,2.47,0.00,0.000,4,0.000,0.041,2622,2412,3802
$GC,281,-1.27,-127.1,11.5,-6.4,37,287,0.00,2.55,0.00,0.000,6,0.000,0.048,2622,1001,3802
$GC,354,-1.27,-127.1,15.4,-5.4,48,361,0.00,2.50,0.00,0.000,4,0.000,0.039,2623,2416,3802
$GC,506,-1.27,-127.1,22.8,-5.2,67,512,0.00,2.58,0.00,0.000,6,0.000,0.048,2622,992,3803
$GC,702,-1.27,-127.1,32.6,-5.1,83,706,0.00,2.50,0.00,0.000,4,0.000,0.039,2622,2412,3802
$GC,844,-1.27,-127.1,39.3,-5.1,93,848,0.00,2.55,0.00,0.000,6,0.000,0.049,2622,1000,3803
$GC,1041,-1.27,-127.1,49.4,-5.1,108,1045,0.00,2.50,0.00,0.000,4,0.000,0.039,2623,2421,3802
$GC,1233,-1.27,-127.1,58.7,-4.9,122,1238,0.00,2.58,0.00,0.000,6,0.000,0.049,2622,997,3803
$GC,1430,-1.27,-127.1,68.5,-4.9,137,1434,0.00,2.50,0.00,0.000,4,0.000,0.039,2622,2420,3803
$GC,1628,-1.27,-127.1,77.9,-4.6,151,1634,0.00,2.58,0.00,0.000,6,0.000,0.049,2622,995,3803
$GC,1825,-1.27,-127.1,87.8,-5.2,167,1829,0.00,2.50,0.00,0.000,4,0.000,0.039,2622,2417,3802
$STATE,1967,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1967,begin apogee
$GC,1976,-0.42,0.0,95.3,5.3,177,2133,0.90,0.00,150.23,0.649,6,0.091,0.000,2808,2514,3281
$STATE,2134,end apogee,CONTROL_FINISHED_OK
$STATE,2134,begin climb
$GC,2138,1.27,127.1,97.1,0.0,190,2298,1.70,2.62,148.50,0.617,4,0.061,0.048,3178,1087,2761
$GC,2353,1.27,127.1,80.7,9.7,207,2357,0.00,2.55,0.00,0.000,6,0.000,0.040,3177,2514,2761
$GC,2556,1.27,127.1,60.8,9.8,223,2560,0.00,2.60,0.00,0.000,4,0.000,0.074,3177,3889,2760
$GC,2602,1.27,127.1,55.9,10.4,226,2607,0.00,2.45,0.00,0.000,6,0.000,0.036,3178,2491,2760
$GC,2799,1.27,127.1,36.9,9.3,241,2803,0.00,2.47,0.00,0.000,4,0.000,0.051,3178,1110,2760
$GC,2832,1.27,127.1,33.7,9.9,243,2836,0.00,2.47,0.00,0.000,6,0.000,0.041,3178,2507,2760
$GC,3030,1.27,127.1,15.1,9.3,262,3036,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2507,2760
$GC,3104,1.27,127.1,8.8,7.9,273,3110,0.00,2.58,0.00,0.000,4,0.000,0.071,3180,3888,2760
$GC,3137,1.27,127.1,6.1,7.8,278,3144,0.00,2.42,0.00,0.000,6,0.000,0.037,3178,2499,2760
$STATE,3194,end climb,SURFACE_DEPTH_REACHED
$STATE,3194,begin surface coast
$FINISH,0.6,1.002101
$STATE,3228,end surface coast,CONTROL_FINISHED_OK
$STATE,3228,begin surface
$SM_CCo,3261,120.50,0.580,0,0,1649,400.08
$SM_GC,1.14,0.00,0.00,120.50,0.000,0.000,0.580,133,1007,1649,-12.75,0.20,400.08
$IRIDIUM_FIX,4726.11,-12250.84,061007,212101
$TT8_MAMPS,0.070564
$HUMID,2123
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,19.70
$XPDR_PINGS,168
$24V_AH,23.9,44.264
$10V_AH,10.0,27.879
$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,32.200,54.125,298.725,120.500,0.000,81.732,115.724,269.529,42.250,0.000,4236.000,35.588,545.408,1708.141,526.073,605.323,749.852,33.349,880.578,0.000,559.663,0.000,2.496
$DEVICE_MAMPS,210.925,109.681,648.882,579.852,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,192.699,0.000,0.000,0.000,0.000,0.000,0.000,4236.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,21.848,51.000
$DATA_FILE_SIZE,6440,292
$CFSIZE,260034560,249151488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,182005,4743.594,-12250.812,12,3.6,32,18.3