version: 66.02
glider: 118
mission: 6
dive: 398
start: 10 5 107 10 20 10
data:
$ID,118
$MISSION,6
$DIVE,398
$D_SURF,2
$D_FLARE,2
$D_TGT,95
$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,45
$T_MISSION,90
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,110
$COURSE_BIAS,0
$GLIDE_SLOPE,25
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51630
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,2
$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,-17345.809
$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,50
$R_STBD_OVSHOOT,36
$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,0
$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
$GPS1,100651,4741.521,-12251.390,10,2.0,10,18.3
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,2
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-60.8
$GPS2,101953,4741.485,-12251.390,17,3.6,36,18.3
$SPEED_LIMITS,0.151,0.202
$TGT_NAME,10_XC
$TGT_LATLONG,4741.454,-12251.414
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,190.2,65,-22.0,-7.037
$D_GRID,95
$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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,31,-2.28,-57.1,0.0,0.0,0,93,0.00,0.00,-60.35,0.000,2,0.000,0.000,427,2509,3035
$GC,97,-2.34,-107.5,2.0,-2.7,10,136,11.65,2.62,-20.98,0.000,4,0.164,0.081,2487,3891,3669
$GC,387,-2.34,-107.5,36.1,-11.7,44,392,0.00,2.38,0.00,0.000,6,0.000,0.033,2487,2498,3672
$GC,584,-2.34,-107.5,57.6,-10.8,59,588,0.00,2.58,0.00,0.000,4,0.000,0.067,2487,3890,3672
$GC,768,-2.34,-107.5,78.2,-11.0,72,775,0.00,2.40,0.00,0.000,6,0.000,0.034,2487,2491,3672
$STATE,936,end dive,TARGET_DEPTH_EXCEEDED
$STATE,936,begin apogee
$GC,944,-0.50,0.0,95.9,10.7,86,1036,1.95,0.00,82.20,0.599,6,0.101,0.000,2881,2408,3229
$STATE,1036,end apogee,CONTROL_FINISHED_OK
$STATE,1036,begin climb
$GC,1040,2.34,107.5,98.1,0.0,94,1127,2.88,0.00,80.50,0.582,6,0.058,0.000,3507,2408,2790
$GC,1316,2.34,107.5,66.5,13.9,116,1320,0.00,2.45,0.00,0.000,4,0.000,0.052,3508,1036,2789
$GC,1409,2.34,107.5,53.6,13.6,122,1415,0.00,2.38,0.00,0.000,6,0.000,0.034,3508,2409,2789
$GC,1605,2.34,107.5,28.0,12.9,138,1609,0.00,2.47,0.00,0.000,4,0.000,0.051,3508,1032,2789
$GC,1664,2.34,107.5,19.4,14.8,142,1671,0.00,2.40,0.00,0.000,6,0.000,0.035,3508,2423,2789
$GC,1738,2.34,107.5,11.0,9.7,153,1744,0.00,2.50,0.00,0.000,4,0.000,0.051,3508,1028,2788
$GC,1758,2.34,107.5,9.5,8.1,156,1764,0.00,2.40,0.00,0.000,6,0.000,0.034,3508,2416,2789
$GC,1833,2.34,107.5,4.2,7.2,167,1839,0.00,2.58,0.00,0.000,4,0.000,0.068,3508,3822,2789
$STATE,1859,end climb,SURFACE_DEPTH_REACHED
$STATE,1859,begin surface coast
$FINISH,0.1,1.004520
$STATE,1883,end surface coast,CONTROL_FINISHED_OK
$STATE,1884,begin surface
$SM_CCo,1917,138.75,0.518,0,0,1597,400.08
$SM_GC,0.88,0.00,0.00,138.75,0.000,0.000,0.518,426,2487,1597,-11.84,-0.37,400.08
$IRIDIUM_FIX,4726.11,-12249.11,051007,141423
$TT8_MAMPS,0.069797
$HUMID,1768
$INTERNAL_PRESSURE,9.32999
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,90.5,49.7
$24V_AH,24.1,31.393
$10V_AH,10.1,24.461
$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,30.250,29.550,162.700,138.750,0.000,76.847,65.235,390.049,1.500,0.000,2910.000,37.786,347.148,985.463,393.503,378.153,744.212,0.000,618.316,0.000,348.280,0.000,12.739
$DEVICE_MAMPS,164.138,81.302,599.027,517.725,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,121.130,0.000,0.000,0.000,0.000,0.000,0.000,2910.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,19.122,51.000
$DATA_FILE_SIZE,3323,175
$CFSIZE,260034560,245534720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,105527,4741.296,-12251.567,14,1.7,14,18.3