version: 66.02
glider: 118
mission: 6
dive: 316
start: 10 2 107 10 55 54
data:
$ID,118
$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,45
$T_MISSION,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,125
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51630
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-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,-17198.209
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,428
$PITCH_MAX,3730
$C_PITCH,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,10
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,311
$ROLL_MAX,3943
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2415
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,17
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,540
$VBD_MAX,3800
$C_VBD,3229
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-6.9690108
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,25
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,70
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.4
$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,16
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043805656
$SEABIRD_T_H,0.00064742006
$SEABIRD_T_I,2.5554549e-05
$SEABIRD_T_J,2.6681391e-06
$SEABIRD_C_G,-10.331019
$SEABIRD_C_H,1.1763502
$SEABIRD_C_I,-0.0012340198
$SEABIRD_C_J,0.00017379176
$GPS1,104923,4739.522,-12253.185,14,3.4,33,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-56.7
$GPS2,105537,4739.549,-12253.119,37,1.2,43,18.3
$SPEED_LIMITS,0.115,0.209
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,81.4,908,-13.9,-6.667
$D_GRID,90
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-1.54,-122.2,0.0,0.0,0,98,0.00,0.00,-66.95,0.000,2,0.000,0.000,427,2507,3182
$GC,102,-1.54,-122.2,2.0,-2.9,11,139,12.45,2.58,-17.52,0.000,4,0.158,0.081,2657,3890,3728
$GC,383,-1.54,-122.2,22.0,-6.5,52,391,0.00,2.40,0.00,0.000,6,0.000,0.032,2656,2492,3731
$GC,579,-1.54,-122.2,34.5,-6.7,68,584,0.00,2.60,0.00,0.000,4,0.000,0.067,2656,3896,3732
$GC,692,-1.54,-122.2,42.1,-6.7,76,696,0.00,2.38,0.00,0.000,6,0.000,0.031,2657,2494,3732
$GC,888,-1.54,-122.2,55.3,-6.8,91,892,0.00,2.58,0.00,0.000,4,0.000,0.065,2657,3890,3731
$GC,1021,-1.54,-122.2,64.7,-6.8,100,1032,0.00,2.35,0.00,0.000,6,0.000,0.033,2657,2495,3732
$GC,1216,-1.54,-122.2,76.9,-5.9,116,1220,0.00,2.58,0.00,0.000,4,0.000,0.066,2656,3894,3732
$GC,1330,-1.54,-122.2,84.5,-7.8,124,1335,0.00,2.38,0.00,0.000,6,0.000,0.034,2657,2513,3732
$STATE,1420,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1420,begin apogee
$GC,1427,-0.50,0.0,90.3,6.6,131,1529,1.10,0.00,93.75,0.601,6,0.094,0.000,2884,2415,3228
$STATE,1529,end apogee,CONTROL_FINISHED_OK
$STATE,1530,begin climb
$GC,1533,1.54,122.2,92.8,0.0,140,1634,2.08,2.58,91.38,0.583,4,0.063,0.051,3333,1036,2729
$GC,1661,1.54,122.2,84.6,9.1,150,1668,0.00,2.42,0.00,0.000,6,0.000,0.033,3333,2410,2728
$GC,1860,1.54,122.2,65.9,9.8,166,1865,0.00,2.58,0.00,0.000,4,0.000,0.066,3333,3812,2728
$GC,1900,1.54,122.2,61.8,9.8,168,1906,0.00,2.38,0.00,0.000,6,0.000,0.031,3333,2425,2728
$GC,2095,1.54,122.2,42.8,9.9,184,2096,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,2425,2728
$GC,2286,1.54,122.2,25.0,9.7,199,2291,0.00,2.53,0.00,0.000,4,0.000,0.053,3333,1029,2728
$GC,2331,1.54,122.2,20.1,10.0,202,2339,0.00,2.42,0.00,0.000,6,0.000,0.034,3333,2410,2728
$GC,2537,1.62,192.8,4.5,4.1,233,2580,0.00,0.00,41.03,0.544,2,0.000,0.000,3333,2410,2463
$STATE,2581,end climb,SURFACE_DEPTH_REACHED
$STATE,2581,begin surface coast
$FINISH,-0.0,1.026759
$STATE,2614,end surface coast,CONTROL_FINISHED_OK
$STATE,2615,begin surface
$SM_CCo,2642,96.90,0.520,0,0,1598,400.08
$SM_GC,0.78,0.00,0.00,96.90,0.000,0.000,0.520,426,2506,1598,-11.84,0.17,400.08
$IRIDIUM_FIX,4722.92,-12251.79,021007,141456
$TT8_MAMPS,0.068263
$HUMID,1771
$INTERNAL_PRESSURE,9.32999
$TCM_TEMP,19.90
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,90.3,42.6
$24V_AH,24.1,24.797
$10V_AH,10.1,18.861
$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,28.575,35.000,226.150,96.900,0.000,38.242,31.094,128.914,3.000,0.000,3283.000,43.252,451.760,1364.928,402.252,495.824,410.949,0.000,701.856,0.000,468.438,0.000,10.143
$DEVICE_MAMPS,158.002,81.302,600.561,520.026,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,169.612,0.000,0.000,0.000,0.000,0.000,0.000,3283.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6452,245
$CFSIZE,260034560,247951360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,114232,4739.432,-12252.792,13,1.3,13,18.3