version: 66.02
glider: 118
mission: 6
dive: 14
start: 9 23 107 8 17 49
data:
$ID,118
$MISSION,6
$DIVE,14
$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,-15986.292
$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,43
$R_STBD_OVSHOOT,28
$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
$GPS1,081203,4738.859,-12253.412,11,1.5,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-63.4
$GPS2,081645,4738.882,-12253.354,10,2.0,10,18.3
$SPEED_LIMITS,0.175,0.240
$TGT_NAME,H5
$TGT_LATLONG,4738.532,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.089,-0.223
$KALMAN_X,1067.5,254.9,-72.7,-1862.0,-49.0
$KALMAN_Y,1396.9,313.1,81.2,-2142.3,11.7
$MHEAD_RNG_PITCHd_Wd,140.0,675,-20.2,-10.101
$D_GRID,138
$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,-122.2,0.0,0.0,0,89,0.00,0.00,-60.83,0.000,2,0.000,0.000,427,2509,3115
$GC,93,-2.17,-122.2,2.1,-4.2,10,131,11.75,2.60,-19.00,0.000,4,0.155,0.081,2525,3902,3728
$GC,329,-2.17,-122.2,23.7,-10.3,44,334,0.00,2.45,0.00,0.000,6,0.000,0.033,2524,2495,3731
$GC,531,-2.17,-122.2,44.0,-10.8,60,535,0.00,2.62,0.00,0.000,4,0.000,0.068,2524,3898,3732
$GC,622,-2.17,-122.2,54.0,-10.5,66,629,0.00,2.42,0.00,0.000,6,0.000,0.034,2524,2500,3733
$GC,819,-2.17,-122.2,73.6,-9.9,82,823,0.00,2.62,0.00,0.000,4,0.000,0.070,2525,3899,3733
$GC,898,-2.17,-122.2,81.7,-10.2,87,904,0.00,2.40,0.00,0.000,6,0.000,0.035,2525,2499,3733
$STATE,1079,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1079,begin apogee
$GC,1085,-0.50,0.0,100.3,10.2,102,1189,1.77,0.00,95.35,0.607,6,0.098,0.000,2883,2402,3229
$STATE,1190,end apogee,CONTROL_FINISHED_OK
$STATE,1190,begin climb
$GC,1193,2.17,122.2,103.0,0.0,111,1297,2.72,2.53,93.35,0.589,4,0.062,0.052,3468,1027,2729
$GC,1382,2.17,122.2,83.9,13.9,125,1389,0.00,2.47,0.00,0.000,6,0.000,0.034,3469,2418,2728
$GC,1581,2.17,122.2,57.0,13.5,141,1582,0.00,0.00,0.00,0.000,6,0.000,0.000,3468,2418,2728
$GC,1769,2.17,122.2,31.5,13.7,156,1771,0.00,0.00,0.00,0.000,6,0.000,0.000,3468,2420,2728
$GC,1961,2.17,122.2,6.8,12.2,179,1968,0.00,2.53,0.00,0.000,4,0.000,0.053,3468,1030,2728
$GC,2007,2.17,128.0,2.1,9.8,186,2015,0.00,2.42,2.80,0.632,2,0.000,0.035,3469,2420,2712
$STATE,2015,end climb,SURFACE_DEPTH_REACHED
$STATE,2015,begin surface coast
$FINISH,1.1,1.025324
$STATE,2033,end surface coast,CONTROL_FINISHED_OK
$STATE,2033,begin surface
$SM_CCo,2063,137.73,0.528,0,0,1598,400.08
$SM_GC,0.75,0.00,0.00,137.73,0.000,0.000,0.528,426,2513,1598,-11.84,0.37,400.08
$IRIDIUM_FIX,4719.74,-12254.47,230907,111110
$TT8_MAMPS,0.06903
$HUMID,1794
$INTERNAL_PRESSURE,9.34952
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,10.0,9.5
$ALTIM_BOTTOM_PING,75.5,999.0
$24V_AH,23.4,2.205
$10V_AH,10.0,1.779
$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,30.275,25.350,191.500,137.725,0.000,40.310,37.647,98.582,1.500,8.320,2588.680,10.090,362.803,1057.465,409.067,347.570,332.593,33.333,640.531,0.000,357.737,0.000,11.895
$DEVICE_MAMPS,154.934,81.302,632.008,528.463,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,131.160,0.000,0.000,0.000,0.000,0.000,0.000,2597.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6430,190
$CFSIZE,260034560,256348160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,085547,4738.716,-12253.198,14,2.2,33,18.3