version: 66.02
glider: 118
mission: 6
dive: 7
start: 9 23 107 3 7 45
data:
$ID,118
$MISSION,6
$DIVE,7
$D_SURF,2
$D_FLARE,2
$D_TGT,100
$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,33
$T_MISSION,70
$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,125
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51630
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$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,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,-15969.694
$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,2400
$C_ROLL_CLIMB,2415
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,17
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,24
$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,10
$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
$GPS1,030109,4739.576,-12252.594,9,1.5,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-60.3
$GPS2,030639,4739.568,-12252.593,13,1.4,13,18.3
$SPEED_LIMITS,0.175,0.240
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.231,-0.068
$KALMAN_X,700.7,312.0,123.8,-799.5,76.5
$KALMAN_Y,329.0,153.0,59.6,377.6,42.3
$MHEAD_RNG_PITCHd_Wd,235.2,783,-20.2,-10.101
$D_GRID,123
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-2.17,-122.2,0.0,0.0,0,95,0.00,0.00,-67.38,0.000,2,0.000,0.000,430,2401,3030
$GC,98,-2.17,-122.2,2.1,-4.8,11,141,11.82,2.67,-20.98,0.000,4,0.159,0.077,2521,3806,3729
$GC,391,-2.17,-122.2,33.5,-10.4,46,398,0.00,2.47,0.00,0.000,6,0.000,0.034,2521,2394,3732
$GC,588,-2.17,-122.2,53.3,-10.2,62,592,0.00,2.62,0.00,0.000,4,0.000,0.064,2522,3806,3733
$GC,846,-2.17,-122.2,81.8,-11.0,81,851,0.00,2.42,0.00,0.000,6,0.000,0.035,2521,2401,3733
$STATE,1016,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1016,begin apogee
$GC,1021,-0.50,0.0,100.0,10.0,94,1125,1.80,0.00,94.97,0.607,6,0.100,0.000,2883,2396,3229
$STATE,1126,end apogee,CONTROL_FINISHED_OK
$STATE,1126,begin climb
$GC,1129,2.17,122.2,103.3,0.0,103,1232,2.72,2.53,92.82,0.589,4,0.061,0.053,3469,1023,2730
$GC,1484,2.17,122.2,63.9,13.6,130,1488,0.00,2.45,0.00,0.000,6,0.000,0.035,3469,2417,2728
$GC,1679,2.17,122.2,38.2,13.1,145,1683,0.00,2.55,0.00,0.000,4,0.000,0.053,3469,1015,2728
$GC,1712,2.17,122.2,33.7,14.2,147,1716,0.00,2.47,0.00,0.000,6,0.000,0.036,3469,2423,2728
$GC,1911,2.17,122.2,9.0,10.9,169,1917,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,2423,2728
$STATE,1974,end climb,SURFACE_DEPTH_REACHED
$STATE,1974,begin surface coast
$FINISH,0.7,1.026660
$STATE,1997,end surface coast,CONTROL_FINISHED_OK
$STATE,1997,begin surface
$SM_CCo,2024,158.57,0.528,1,0,1393,450.13
$SM_GC,0.76,0.00,0.00,158.57,0.000,0.000,0.528,429,2423,1393,-11.84,0.65,450.13
$IRIDIUM_FIX,4726.11,-12325.44,230907,060641
$TT8_MAMPS,0.068263
$HUMID,1817
$INTERNAL_PRESSURE,9.32999
$TCM_TEMP,20.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,9.8,9.4
$ALTIM_BOTTOM_PING,80.1,50.9
$24V_AH,24.0,1.715
$10V_AH,10.0,1.373
$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,30.000,20.200,187.800,158.575,0.000,38.501,30.367,151.856,1.750,0.000,2626.000,14.608,351.828,1004.807,431.293,385.610,372.868,33.329,673.314,0.000,388.305,0.000,10.226
$DEVICE_MAMPS,158.769,76.700,606.697,528.463,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,125.560,0.000,0.000,0.000,0.000,0.000,0.000,2626.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3310,182
$CFSIZE,260034560,256552960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230907,034509,4739.650,-12252.785,13,1.4,13,18.3