version: 66.02
glider: 118
mission: 6
dive: 23
start: 9 23 107 15 19 16
data:
$ID,118
$MISSION,6
$DIVE,23
$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,43
$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,-16040.5
$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,42
$R_STBD_OVSHOOT,32
$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
$GPS1,151245,4739.040,-12252.057,8,1.8,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-63.1
$GPS2,151809,4739.070,-12252.015,13,1.5,13,18.3
$SPEED_LIMITS,0.134,0.221
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.193,0.107
$KALMAN_X,2847.5,168.4,205.2,-2160.8,180.4
$KALMAN_Y,3029.6,145.6,-0.3,-3178.9,208.0
$MHEAD_RNG_PITCHd_Wd,280.7,879,-16.0,-7.752
$D_GRID,127
$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,-1.75,-122.2,0.0,0.0,0,77,0.00,0.00,-48.95,0.000,2,0.000,0.000,424,2514,2834
$GC,81,-1.75,-122.2,2.1,-4.2,8,130,12.18,2.58,-27.95,0.000,4,0.153,0.060,2612,1112,3730
$GC,210,-1.75,-122.2,9.8,-7.0,28,216,0.00,2.42,0.00,0.000,6,0.000,0.034,2612,2497,3732
$GC,282,-1.75,-122.2,15.0,-7.1,39,288,0.00,2.60,0.00,0.000,4,0.000,0.071,2612,3898,3733
$GC,406,-1.75,-122.2,25.1,-8.2,53,414,0.00,2.42,0.00,0.000,6,0.000,0.032,2612,2495,3734
$GC,603,-1.75,-122.2,39.8,-7.6,69,607,0.00,2.62,0.00,0.000,4,0.000,0.068,2612,3900,3735
$GC,667,-1.75,-122.2,45.2,-8.3,73,675,0.00,2.42,0.00,0.000,6,0.000,0.033,2612,2495,3735
$GC,863,-1.75,-122.2,60.8,-8.1,89,868,0.00,2.62,0.00,0.000,4,0.000,0.068,2612,3906,3735
$GC,942,-1.75,-122.2,67.4,-8.4,94,949,0.00,2.40,0.00,0.000,6,0.000,0.034,2612,2494,3735
$GC,1138,-1.75,-122.2,83.0,-7.8,110,1142,0.00,2.62,0.00,0.000,4,0.000,0.067,2612,3906,3735
$GC,1189,-1.75,-122.2,87.3,-8.6,113,1196,0.00,2.42,0.00,0.000,6,0.000,0.034,2612,2500,3736
$STATE,1360,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1360,begin apogee
$GC,1366,-0.50,0.0,100.1,7.3,127,1470,1.33,0.00,95.32,0.609,6,0.094,0.000,2882,2419,3228
$STATE,1471,end apogee,CONTROL_FINISHED_OK
$STATE,1471,begin climb
$GC,1473,1.75,122.2,102.6,0.0,136,1575,2.33,2.58,92.78,0.589,4,0.064,0.052,3378,1023,2729
$GC,1642,1.75,122.2,89.7,11.2,149,1648,0.00,2.45,0.00,0.000,6,0.000,0.033,3378,2421,2729
$GC,1837,1.75,122.2,68.7,10.9,165,1838,0.00,0.00,0.00,0.000,6,0.000,0.000,3378,2421,2728
$GC,2028,1.75,122.2,48.7,10.5,180,2033,0.00,2.55,0.00,0.000,4,0.000,0.051,3378,1031,2728
$GC,2087,1.75,122.2,41.9,11.7,184,2093,0.00,2.42,0.00,0.000,6,0.000,0.033,3378,2422,2728
$GC,2282,1.75,122.2,21.2,10.4,200,2283,0.00,0.00,0.00,0.000,6,0.000,0.000,3378,2421,2728
$GC,2479,1.75,122.2,3.8,8.0,228,2485,0.00,0.00,0.00,0.000,6,0.000,0.000,3378,2422,2728
$STATE,2510,end climb,SURFACE_DEPTH_REACHED
$STATE,2510,begin surface coast
$FINISH,1.3,1.025886
$STATE,2544,end surface coast,CONTROL_FINISHED_OK
$STATE,2544,begin surface
$SM_CCo,2573,134.62,0.534,1,0,1597,400.08
$SM_GC,0.85,0.00,0.00,134.62,0.000,0.000,0.534,424,2519,1597,-11.85,0.54,400.08
$IRIDIUM_FIX,4719.74,-12251.79,230907,181800
$TT8_MAMPS,0.068263
$HUMID,1798
$INTERNAL_PRESSURE,9.34952
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,10.0,9.5
$ALTIM_BOTTOM_PING,90.7,50.3
$24V_AH,24.0,2.873
$10V_AH,10.0,2.339
$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,29.325,35.400,188.100,134.625,0.000,41.318,39.101,127.188,1.500,8.310,3155.690,13.233,452.449,1369.172,422.783,432.029,389.233,33.341,703.445,0.000,444.221,0.000,11.767
$DEVICE_MAMPS,152.633,70.564,608.998,533.832,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,164.312,0.000,0.000,0.000,0.000,0.000,0.000,3164.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6439,238
$CFSIZE,260034560,256081920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230907,160544,4739.251,-12252.299,13,1.3,31,18.3