version: 66.02
glider: 116
mission: 6
dive: 261
start: 10 6 107 18 30 2
data:
$ID,116
$MISSION,6
$DIVE,261
$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,-35068.359
$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,16
$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
$GPS1,182005,4743.594,-12250.812,12,3.6,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-57.1
$GPS2,182850,4743.664,-12250.708,11,1.4,16,18.3
$SPEED_LIMITS,0.193,0.216
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.202,-0.077
$KALMAN_X,31698.4,1.3,50.7,-28454.0,131.6
$KALMAN_Y,18234.4,-52.0,60.1,-9139.7,206.9
$MHEAD_RNG_PITCHd_Wd,230.9,18367936,-13.3,-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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,31,-1.27,-127.1,0.0,0.0,0,105,0.00,0.00,-71.60,0.000,2,0.000,0.000,134,1007,3160
$GC,110,-1.27,-127.1,2.0,-1.7,12,158,16.00,0.00,-25.17,0.000,6,0.212,0.000,2626,1007,3801
$GC,225,-1.27,-127.1,7.0,-4.6,30,231,0.00,2.50,0.00,0.000,4,0.000,0.041,2626,2421,3802
$GC,292,-1.27,-127.1,11.4,-6.0,40,298,0.00,2.58,0.00,0.000,6,0.000,0.048,2626,1000,3802
$GC,366,-1.27,-127.1,14.9,-3.2,51,372,0.00,2.50,0.00,0.000,4,0.000,0.039,2626,2416,3802
$GC,557,-1.27,-127.1,24.0,-4.6,73,563,0.00,2.55,0.00,0.000,6,0.000,0.048,2626,1001,3802
$GC,753,-1.27,-127.1,33.9,-5.2,89,757,0.00,2.50,0.00,0.000,4,0.000,0.040,2626,2419,3803
$GC,904,-1.27,-127.1,41.5,-4.6,100,911,0.00,2.58,0.00,0.000,6,0.000,0.048,2626,995,3802
$GC,1101,-1.27,-127.1,51.2,-4.9,116,1105,0.00,2.50,0.00,0.000,4,0.000,0.039,2626,2416,3803
$GC,1307,-1.27,-127.1,60.6,-4.4,131,1311,0.00,2.58,0.00,0.000,6,0.000,0.049,2626,992,3803
$GC,1504,-1.27,-127.1,69.8,-4.7,146,1508,0.00,2.50,0.00,0.000,4,0.000,0.040,2626,2415,3803
$GC,1683,-1.27,-127.1,77.6,-4.4,159,1687,0.00,2.58,0.00,0.000,6,0.000,0.050,2626,992,3802
$GC,1881,-1.27,-127.1,86.4,-4.6,174,1886,0.00,2.50,0.00,0.000,4,0.000,0.040,2626,2415,3803
$STATE,2062,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2062,begin apogee
$GC,2070,-0.42,0.0,95.2,4.5,187,2225,0.88,0.00,150.40,0.647,6,0.091,0.000,2807,2514,3281
$STATE,2229,end apogee,CONTROL_FINISHED_OK
$STATE,2229,begin climb
$GC,2233,1.27,127.1,96.5,0.0,200,2393,1.70,2.62,148.62,0.617,4,0.061,0.048,3183,1084,2761
$GC,2421,1.27,127.1,82.0,10.3,215,2425,0.00,2.55,0.00,0.000,6,0.000,0.041,3183,2505,2761
$GC,2619,1.27,127.1,61.7,10.2,230,2620,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2506,2761
$GC,2809,1.27,127.1,42.6,10.3,245,2810,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2506,2760
$GC,2997,1.27,127.1,23.8,9.8,260,2999,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2506,2760
$GC,3191,1.27,127.1,5.5,8.1,287,3197,0.00,2.55,0.00,0.000,4,0.000,0.048,3182,1088,2760
$STATE,3234,end climb,SURFACE_DEPTH_REACHED
$STATE,3235,begin surface coast
$FINISH,0.6,1.002129
$STATE,3265,end surface coast,CONTROL_FINISHED_OK
$STATE,3265,begin surface
$SM_CCo,3295,120.40,0.574,0,0,1650,400.08
$SM_GC,1.16,0.00,0.00,120.40,0.000,0.000,0.574,136,993,1650,-12.74,-0.20,400.08
$IRIDIUM_FIX,4726.11,-12249.11,061007,212104
$TT8_MAMPS,0.066729
$HUMID,2145
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,19.60
$XPDR_PINGS,196
$24V_AH,23.9,44.370
$10V_AH,9.9,27.965
$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,32.350,35.925,299.025,120.400,0.000,39.891,38.110,269.427,49.250,0.000,4088.000,16.192,549.508,1705.742,509.283,585.873,617.556,33.349,854.219,0.000,561.206,0.000,2.498
$DEVICE_MAMPS,211.692,77.467,646.581,574.483,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,197.176,0.000,0.000,0.000,0.000,0.000,0.000,4088.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,21.848,51.000
$DATA_FILE_SIZE,9577,298
$CFSIZE,260034560,249106432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,192750,4743.703,-12251.006,7,1.6,13,18.3