version: 66.02
glider: 118
mission: 6
dive: 12
start: 9 23 107 6 52 12
data:
$ID,118
$MISSION,6
$DIVE,12
$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,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,-15994.913
$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,35
$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,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
$GPS1,064607,4739.247,-12253.445,33,0.9,44,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-62.6
$GPS2,065108,4739.264,-12253.455,14,1.0,14,18.3
$SPEED_LIMITS,0.175,0.240
$TGT_NAME,H4
$TGT_LATLONG,4739.000,-12253.603
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.039,-0.237
$KALMAN_X,1008.3,326.2,0.2,-2070.9,-87.1
$KALMAN_Y,1219.7,324.3,113.8,-1298.6,35.2
$MHEAD_RNG_PITCHd_Wd,171.0,523,-20.2,-10.101
$D_GRID,128
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-2.17,-122.2,0.0,0.0,0,96,0.00,0.00,-67.38,0.000,2,0.000,0.000,427,2516,3255
$GC,99,-2.17,-122.2,2.0,-3.2,11,130,11.85,0.00,-14.27,0.000,6,0.160,0.000,2521,2516,3729
$GC,196,-2.17,-122.2,11.4,-10.0,26,201,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2517,3731
$GC,268,-2.17,-122.2,19.1,-11.0,37,274,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2516,3732
$GC,346,-2.17,-122.2,26.6,-9.5,44,350,0.00,2.58,0.00,0.000,4,0.000,0.072,2521,3892,3732
$GC,410,-2.17,-122.2,33.6,-11.1,48,417,0.00,2.42,0.00,0.000,6,0.000,0.033,2521,2495,3732
$GC,607,-2.17,-122.2,54.4,-10.4,64,608,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2492,3733
$GC,797,-2.17,-122.2,74.6,-10.6,79,806,0.00,2.62,0.00,0.000,4,0.000,0.069,2521,3894,3734
$GC,920,-2.17,-122.2,88.5,-11.7,88,924,0.00,2.40,0.00,0.000,6,0.000,0.034,2521,2497,3733
$STATE,1027,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1027,begin apogee
$GC,1034,-0.50,0.0,100.4,10.6,96,1136,1.77,0.00,95.50,0.606,6,0.097,0.000,2886,2414,3228
$STATE,1137,end apogee,CONTROL_FINISHED_OK
$STATE,1137,begin climb
$GC,1140,2.17,122.2,104.0,0.0,105,1244,2.80,2.55,93.10,0.589,4,0.060,0.059,3469,1028,2730
$GC,1257,2.17,122.2,95.8,12.0,114,1261,0.00,2.45,0.00,0.000,6,0.000,0.035,3470,2415,2729
$GC,1452,2.17,122.2,68.6,13.4,129,1457,0.00,2.53,0.00,0.000,4,0.000,0.052,3469,1029,2729
$GC,1511,2.17,122.2,60.5,13.7,133,1516,0.00,2.42,0.00,0.000,6,0.000,0.035,3469,2415,2729
$GC,1707,2.17,122.2,34.1,13.2,148,1711,0.00,2.53,0.00,0.000,4,0.000,0.052,3470,1027,2728
$GC,1753,2.17,122.2,27.8,14.0,151,1757,0.00,2.42,0.00,0.000,6,0.000,0.034,3470,2416,2729
$GC,1955,2.17,122.2,3.9,11.3,176,1961,0.00,2.50,0.00,0.000,4,0.000,0.051,3470,1029,2728
$GC,1968,2.17,126.7,2.6,9.9,178,1980,0.00,2.42,2.97,0.628,6,0.000,0.034,3469,2423,2712
$STATE,1984,end climb,SURFACE_DEPTH_REACHED
$STATE,1984,begin surface coast
$FINISH,-0.0,1.000719
$STATE,2005,end surface coast,CONTROL_FINISHED_OK
$STATE,2005,begin surface
$SM_CCo,2033,126.75,0.528,0,0,1598,400.08
$SM_GC,0.63,0.00,0.00,126.75,0.000,0.000,0.528,429,2507,1598,-11.82,0.20,400.08
$IRIDIUM_FIX,4719.74,-12254.47,230907,101018
$TT8_MAMPS,0.068263
$HUMID,1803
$INTERNAL_PRESSURE,9.34952
$TCM_TEMP,19.90
$XPDR_PINGS,4
$ALTIM_TOP_PING,9.8,9.5
$ALTIM_BOTTOM_PING,100.4,41.0
$24V_AH,24.0,2.066
$10V_AH,10.0,1.668
$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,30.150,30.075,191.575,126.750,0.000,41.267,30.534,116.935,2.750,16.600,2604.400,14.920,365.432,1014.942,406.630,350.786,349.972,33.329,650.604,0.000,355.927,0.000,13.294
$DEVICE_MAMPS,159.536,72.098,628.173,528.463,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,126.962,0.000,0.000,0.000,0.000,0.000,0.000,2621.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3303,184
$CFSIZE,260034560,256409600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,072909,4739.036,-12253.586,13,1.0,13,18.3