version: 66.02
glider: 116
mission: 6
dive: 316
start: 10 9 107 4 21 1
data:
$ID,116
$MISSION,6
$DIVE,316
$D_SURF,2
$D_FLARE,2
$D_TGT,90
$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,30
$T_MISSION,45
$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,140
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$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,450
$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,-36437.98
$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,3
$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
$GPS1,040708,4742.764,-12251.111,27,1.2,27,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-64.3
$GPS2,041957,4742.731,-12251.162,13,1.2,13,18.3
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.142,0.209
$KALMAN_X,29070.5,-415.1,-179.7,-25738.5,30.8
$KALMAN_Y,22951.2,-438.5,-214.0,-14914.5,16.4
$MHEAD_RNG_PITCHd_Wd,15.9,730,-18.1,-10.000
$D_GRID,157
$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,34,end surface,CONTROL_FINISHED_OK
$STATE,35,begin dive
$GC,39,-1.68,-136.9,0.0,0.0,0,124,0.00,0.00,-83.03,0.000,2,0.000,0.000,135,1012,3164
$GC,129,-1.68,-136.9,2.2,-2.9,14,184,15.48,2.55,-29.20,0.000,4,0.212,0.051,2534,2426,3840
$GC,324,-1.68,-136.9,15.1,-10.0,44,330,0.00,2.58,0.00,0.000,6,0.000,0.048,2535,996,3841
$GC,404,-1.68,-136.9,21.4,-8.1,55,407,0.00,1.62,0.00,0.000,4,0.000,0.094,2535,159,3841
$GC,457,-1.68,-136.9,25.9,-8.1,59,461,0.00,1.52,0.00,0.000,6,0.000,0.045,2535,1005,3840
$GC,661,-1.68,-136.9,41.6,-7.8,75,665,0.00,2.47,0.00,0.000,4,0.000,0.041,2535,2419,3841
$GC,919,-1.68,-136.9,60.1,-7.5,94,923,0.00,2.58,0.00,0.000,6,0.000,0.051,2535,997,3841
$GC,1123,-1.68,-136.9,75.7,-7.4,110,1127,0.00,2.50,0.00,0.000,4,0.000,0.040,2535,2417,3841
$STATE,1336,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1336,begin apogee
$GC,1345,-0.42,0.0,90.6,7.3,125,1512,1.38,0.00,162.05,0.643,6,0.106,0.000,2808,2514,3281
$STATE,1515,end apogee,CONTROL_FINISHED_OK
$STATE,1515,begin climb
$GC,1519,1.68,136.9,93.6,0.0,139,1689,2.12,2.65,160.50,0.612,4,0.058,0.075,3272,3889,2722
$GC,1752,1.68,136.9,68.8,14.9,157,1758,0.00,2.45,0.00,0.000,6,0.000,0.038,3272,2497,2723
$GC,1948,1.68,136.9,41.3,14.1,173,1949,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,2495,2722
$GC,2139,1.68,136.9,15.4,12.6,190,2145,0.00,2.62,0.00,0.000,4,0.000,0.068,3272,3891,2721
$GC,2166,1.68,136.9,11.6,14.1,194,2172,0.00,2.40,0.00,0.000,6,0.000,0.038,3272,2508,2721
$GC,2240,1.68,136.9,3.1,10.4,205,2246,0.00,2.58,0.00,0.000,4,0.000,0.067,3272,3888,2721
$STATE,2250,end climb,SURFACE_DEPTH_REACHED
$STATE,2250,begin surface coast
$FINISH,0.7,1.002839
$STATE,2266,end surface coast,CONTROL_FINISHED_OK
$STATE,2266,begin surface
$SM_CCo,2311,138.00,0.566,0,0,1445,450.13
$SM_GC,1.41,0.00,0.00,138.00,0.000,0.000,0.566,137,1006,1445,-12.73,0.14,450.13
$IRIDIUM_FIX,4726.11,-12250.84,091007,080844
$TT8_MAMPS,0.071331
$HUMID,2080
$INTERNAL_PRESSURE,11.4653
$TCM_TEMP,19.70
$XPDR_PINGS,92
$24V_AH,23.9,50.536
$10V_AH,10.0,32.803
$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,33.325,33.925,322.550,138.000,0.000,0.000,0.000,0.000,23.250,0.000,2466.000,13.722,350.370,1079.866,549.514,411.642,144.142,33.343,827.030,0.000,410.271,0.000,5.767
$DEVICE_MAMPS,211.692,93.574,642.746,566.046,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,136.144,0.000,0.000,0.000,0.000,0.000,2334.830,2466.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,36.827,51.000
$DATA_FILE_SIZE,6449,209
$CFSIZE,260034560,247107584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091007,050259,4742.889,-12251.004,9,2.6,28,18.3