version: 66.02
glider: 116
mission: 6
dive: 318
start: 10 9 107 5 59 18
data:
$ID,116
$MISSION,6
$DIVE,318
$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,-36485.93
$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,24
$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
$GPS1,054933,4742.986,-12250.884,9,2.0,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-64.6
$GPS2,055814,4742.966,-12250.898,14,1.9,31,18.3
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.066,0.160
$KALMAN_X,28867.4,-376.9,-100.2,-25326.4,48.9
$KALMAN_Y,22672.5,-411.7,-139.6,-14305.3,30.0
$MHEAD_RNG_PITCHd_Wd,4.1,185,-27.2,-10.000
$D_GRID,163
$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,34,begin dive
$GC,39,-2.35,-63.1,0.0,0.0,0,124,0.00,0.00,-83.05,0.000,2,0.000,0.000,135,1006,3175
$GC,129,-2.43,-131.1,2.2,-2.8,14,178,14.65,2.50,-26.90,0.000,4,0.215,0.051,2370,2413,3817
$GC,272,-2.43,-131.1,14.3,-13.5,36,278,0.00,2.58,0.00,0.000,6,0.000,0.049,2369,995,3819
$GC,351,-2.43,-131.1,23.1,-11.1,46,352,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,995,3818
$GC,540,-2.43,-131.1,45.0,-11.6,61,544,0.00,2.53,0.00,0.000,4,0.000,0.039,2369,2420,3818
$GC,634,-2.43,-131.1,55.3,-11.1,67,639,0.00,2.58,0.00,0.000,6,0.000,0.049,2369,1000,3818
$GC,830,-2.43,-131.1,77.2,-10.7,83,835,0.00,2.50,0.00,0.000,4,0.000,0.039,2369,2413,3818
$STATE,954,end dive,TARGET_DEPTH_EXCEEDED
$STATE,954,begin apogee
$GC,963,-0.42,0.0,90.6,10.9,92,1125,2.30,0.00,156.25,0.635,6,0.123,0.000,2809,2511,3281
$STATE,1129,end apogee,CONTROL_FINISHED_OK
$STATE,1129,begin climb
$GC,1133,2.43,131.1,92.5,0.0,106,1299,2.85,2.67,155.40,0.605,4,0.054,0.070,3440,3883,2746
$GC,1356,2.43,131.1,56.8,22.0,124,1362,0.00,2.45,0.00,0.000,6,0.000,0.037,3441,2491,2745
$GC,1554,2.43,131.1,15.4,19.3,141,1560,0.00,2.62,0.00,0.000,4,0.000,0.066,3441,3883,2745
$STATE,1617,end climb,SURFACE_DEPTH_REACHED
$STATE,1617,begin surface coast
$FINISH,0.7,1.022211
$STATE,1624,end surface coast,CONTROL_FINISHED_OK
$STATE,1625,begin surface
$SM_CCo,1670,140.77,0.558,0,0,1445,450.13
$SM_GC,1.43,0.00,0.00,140.77,0.000,0.000,0.558,133,1004,1445,-12.76,0.08,450.13
$IRIDIUM_FIX,4729.30,-12456.11,091007,090923
$TT8_MAMPS,0.070564
$HUMID,2088
$INTERNAL_PRESSURE,11.4555
$TCM_TEMP,19.80
$XPDR_PINGS,61
$24V_AH,23.4,50.789
$10V_AH,10.0,32.939
$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,35.125,25.850,311.650,140.775,0.000,40.513,39.291,203.546,15.500,85.310,2354.690,31.896,253.195,706.106,552.309,309.997,516.127,33.329,753.266,0.000,275.432,0.000,2.494
$DEVICE_MAMPS,214.760,69.797,635.076,557.609,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,97.503,0.000,0.000,0.000,0.000,0.000,2310.230,2440.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,36.827,51.000
$DATA_FILE_SIZE,3324,152
$CFSIZE,260034560,247078912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091007,063037,4743.102,-12250.825,11,1.3,27,18.3