version: 66.02
glider: 118
mission: 6
dive: 15
start: 9 23 107 9 1 57
data:
$ID,118
$MISSION,6
$DIVE,15
$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,-16002.844
$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,31
$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
$GPS1,085547,4738.716,-12253.198,14,2.2,33,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-62.9
$GPS2,090053,4738.740,-12253.133,13,2.1,32,18.3
$SPEED_LIMITS,0.175,0.240
$TGT_NAME,H5
$TGT_LATLONG,4738.532,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.041,-0.206
$KALMAN_X,1199.1,221.9,-89.2,-1669.3,-3.5
$KALMAN_Y,1577.7,308.0,65.0,-2566.0,26.5
$MHEAD_RNG_PITCHd_Wd,172.8,395,-23.2,-10.101
$D_GRID,136
$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,-2.44,-92.2,0.0,0.0,0,77,0.00,0.00,-48.83,0.000,2,0.000,0.000,426,2514,2822
$GC,81,-2.47,-122.2,2.1,-5.4,8,130,11.52,2.62,-29.52,0.000,4,0.160,0.081,2458,3894,3730
$GC,262,-2.47,-122.2,18.2,-12.2,36,269,0.00,2.40,0.00,0.000,6,0.000,0.033,2457,2498,3732
$GC,332,-2.47,-122.2,25.8,-10.6,43,333,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2494,3733
$GC,524,-2.47,-122.2,47.5,-11.7,58,528,0.00,2.62,0.00,0.000,4,0.000,0.068,2458,3901,3733
$GC,609,-2.47,-122.2,58.8,-13.1,64,614,0.00,2.42,0.00,0.000,6,0.000,0.034,2457,2505,3734
$GC,813,-2.47,-122.2,83.8,-12.0,80,818,0.00,2.60,0.00,0.000,4,0.000,0.068,2457,3893,3734
$GC,925,-2.47,-122.2,98.3,-12.5,88,930,0.00,2.40,0.00,0.000,6,0.000,0.034,2458,2495,3734
$STATE,945,end dive,TARGET_DEPTH_EXCEEDED
$STATE,945,begin apogee
$GC,951,-0.50,0.0,100.5,11.9,89,1054,2.12,0.00,95.90,0.606,6,0.104,0.000,2887,2409,3229
$STATE,1055,end apogee,CONTROL_FINISHED_OK
$STATE,1055,begin climb
$GC,1058,2.47,122.2,103.5,0.0,98,1162,3.03,0.00,94.15,0.585,6,0.060,0.000,3537,2409,2730
$GC,1351,2.47,122.2,65.3,16.1,122,1356,0.00,2.50,0.00,0.000,4,0.000,0.054,3537,1031,2729
$GC,1410,2.47,122.2,55.9,15.7,126,1414,0.00,2.42,0.00,0.000,6,0.000,0.034,3537,2415,2729
$GC,1606,2.47,122.2,25.2,15.7,141,1610,0.00,2.55,0.00,0.000,4,0.000,0.052,3537,1033,2729
$GC,1730,2.47,122.2,6.9,14.4,157,1736,0.00,2.42,0.00,0.000,6,0.000,0.033,3537,2422,2729
$STATE,1773,end climb,SURFACE_DEPTH_REACHED
$STATE,1773,begin surface coast
$FINISH,1.5,1.025345
$STATE,1795,end surface coast,CONTROL_FINISHED_OK
$STATE,1797,begin surface
$SM_CCo,1825,137.68,0.528,1,0,1597,400.08
$SM_GC,0.77,0.00,0.00,137.68,0.000,0.000,0.528,427,2506,1597,-11.84,0.17,400.08
$IRIDIUM_FIX,4722.92,-12256.21,230907,121210
$TT8_MAMPS,0.06903
$HUMID,1802
$INTERNAL_PRESSURE,9.33976
$TCM_TEMP,17.90
$XPDR_PINGS,3
$ALTIM_TOP_PING,9.7,8.9
$ALTIM_BOTTOM_PING,76.1,999.0
$24V_AH,24.0,2.275
$10V_AH,10.0,1.832
$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,31.100,25.200,190.050,137.675,0.000,37.978,36.654,101.233,2.250,12.450,2396.550,33.268,329.246,896.161,418.483,329.664,326.452,33.327,625.753,0.000,310.429,0.000,10.280
$DEVICE_MAMPS,160.303,81.302,605.930,527.696,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,115.183,0.000,0.000,0.000,0.000,0.000,0.000,2409.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3318,167
$CFSIZE,260034560,256323584
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230907,093556,4738.589,-12253.106,28,2.0,28,18.3