version: 66.02
glider: 116
mission: 6
dive: 317
start: 10 9 107 5 14 11
data:
$ID,116
$MISSION,6
$DIVE,317
$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,-36453.41
$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,22
$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
$GPS1,050259,4742.889,-12251.004,9,2.6,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-64.3
$GPS2,051303,4742.854,-12251.034,14,1.6,14,18.3
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.120,0.176
$KALMAN_X,28964.0,-406.0,-145.6,-25517.4,51.6
$KALMAN_Y,22812.4,-436.8,-183.7,-14583.4,42.5
$MHEAD_RNG_PITCHd_Wd,16.0,453,-22.0,-10.000
$D_GRID,160
$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,31,end surface,CONTROL_FINISHED_OK
$STATE,31,begin dive
$GC,36,-1.95,-95.7,0.0,0.0,0,121,0.00,0.00,-82.88,0.000,2,0.000,0.000,138,1006,3169
$GC,126,-2.00,-136.9,2.1,-2.7,14,175,15.23,1.65,-28.02,0.000,4,0.214,0.110,2463,163,3839
$GC,210,-2.00,-136.9,6.2,-10.2,27,215,0.00,1.52,0.00,0.000,6,0.000,0.044,2462,998,3840
$GC,282,-2.00,-136.9,14.3,-10.6,38,288,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,998,3840
$GC,362,-2.00,-136.9,21.7,-9.9,49,363,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,998,3840
$GC,551,-2.00,-136.9,39.6,-9.3,64,556,0.00,2.50,0.00,0.000,4,0.000,0.041,2462,2414,3840
$GC,781,-2.00,-136.9,60.0,-9.1,81,785,0.00,2.58,0.00,0.000,6,0.000,0.050,2463,1000,3840
$GC,977,-2.00,-136.9,77.7,-8.5,96,981,0.00,2.53,0.00,0.000,4,0.000,0.039,2463,2419,3840
$STATE,1113,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1113,begin apogee
$GC,1122,-0.42,0.0,90.0,8.8,106,1290,1.77,0.00,162.70,0.637,6,0.112,0.000,2810,2515,3281
$STATE,1293,end apogee,CONTROL_FINISHED_OK
$STATE,1293,begin climb
$GC,1297,2.00,136.9,91.3,0.0,120,1467,2.42,2.62,161.05,0.607,4,0.057,0.071,3345,3884,2723
$GC,1517,2.00,136.9,61.6,18.2,137,1523,0.00,2.45,0.00,0.000,6,0.000,0.036,3345,2493,2722
$GC,1713,2.00,136.9,27.6,16.9,153,1717,0.00,2.65,0.00,0.000,4,0.000,0.067,3345,3888,2722
$GC,1760,2.00,136.9,19.3,18.1,156,1766,0.00,2.42,0.00,0.000,6,0.000,0.036,3345,2502,2722
$GC,1833,2.00,136.9,7.6,14.9,167,1838,0.00,0.00,0.00,0.000,6,0.000,0.000,3345,2501,2722
$STATE,1876,end climb,SURFACE_DEPTH_REACHED
$STATE,1877,begin surface coast
$FINISH,0.7,1.008768
$STATE,1891,end surface coast,CONTROL_FINISHED_OK
$STATE,1891,begin surface
$SM_CCo,1934,138.18,0.559,0,0,1445,450.13
$SM_GC,1.42,0.00,0.00,138.18,0.000,0.000,0.559,133,1005,1445,-12.75,0.17,450.13
$IRIDIUM_FIX,4722.92,-12250.84,091007,080845
$TT8_MAMPS,0.075933
$HUMID,2093
$INTERNAL_PRESSURE,11.4555
$TCM_TEMP,19.70
$XPDR_PINGS,78
$24V_AH,23.3,50.667
$10V_AH,10.0,32.876
$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,34.225,23.850,323.750,138.175,0.000,40.338,47.027,221.879,19.750,100.970,2713.030,14.802,298.290,843.126,559.334,352.690,620.806,33.334,791.700,0.000,331.413,0.000,2.497
$DEVICE_MAMPS,213.993,109.681,637.377,559.143,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,113.746,0.000,0.000,0.000,0.000,0.000,2415.860,2814.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,36.827,51.000
$DATA_FILE_SIZE,3297,176
$CFSIZE,260034560,247107584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091007,054933,4742.986,-12250.884,9,2.0,9,18.3