version: 66.02
glider: 118
mission: 6
dive: 2
start: 9 22 107 23 4 15
data:
$ID,118
$MISSION,6
$DIVE,2
$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,600
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-15920.275
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,428
$PITCH_MAX,3730
$C_PITCH,2930
$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,2595
$C_ROLL_CLIMB,2415
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,17
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,30
$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
$GPS1,225127,4739.129,-12252.556,12,1.8,12,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-56.9
$GPS2,230314,4739.145,-12252.479,30,1.0,30,18.3
$SPEED_LIMITS,0.175,0.240
$TGT_NAME,H1
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.188,-0.150
$KALMAN_X,65.2,65.2,65.2,279.4,127.7
$KALMAN_Y,39.8,39.8,39.8,13.8,78.1
$MHEAD_RNG_PITCHd_Wd,110.3,654,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-2.17,-122.2,0.0,0.0,0,121,0.00,0.00,-91.05,0.000,2,0.000,0.000,426,2604,3009
$GC,125,-2.17,-122.2,2.1,-4.4,15,169,11.23,2.55,-23.10,0.000,4,0.152,0.058,2451,1195,3729
$GC,242,-2.17,-122.2,12.3,-12.4,33,248,0.00,2.42,0.00,0.000,6,0.000,0.037,2451,2595,3732
$GC,314,-2.17,-122.2,20.7,-10.4,44,318,0.00,2.50,0.00,0.000,4,0.000,0.045,2451,1185,3732
$GC,572,-2.17,-122.2,49.7,-12.7,63,576,0.00,2.45,0.00,0.000,6,0.000,0.036,2451,2601,3733
$GC,767,-2.17,-122.2,72.4,-11.7,78,771,0.00,2.50,0.00,0.000,4,0.000,0.046,2452,1194,3734
$GC,826,-2.17,-122.2,79.3,-12.0,82,830,0.00,2.42,0.00,0.000,6,0.000,0.036,2451,2592,3735
$STATE,997,end dive,TARGET_DEPTH_EXCEEDED
$STATE,998,begin apogee
$GC,1004,-0.50,0.0,100.4,12.7,95,1106,1.80,0.00,93.78,0.600,6,0.104,0.000,2818,2395,3229
$STATE,1107,end apogee,CONTROL_FINISHED_OK
$STATE,1107,begin climb
$GC,1110,2.17,122.2,104.5,0.0,104,1211,2.72,2.55,92.07,0.581,4,0.066,0.054,3400,1025,2730
$GC,1312,2.17,122.2,87.0,11.7,120,1316,0.00,2.45,0.00,0.000,6,0.000,0.037,3400,2415,2729
$GC,1508,2.17,122.2,64.9,11.4,135,1512,0.00,2.53,0.00,0.000,4,0.000,0.054,3400,1028,2729
$GC,1547,2.17,122.2,60.2,11.6,137,1553,0.00,2.45,0.00,0.000,6,0.000,0.037,3400,2422,2729
$GC,1742,2.17,122.2,37.6,11.6,153,1743,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,2422,2729
$GC,1933,2.17,122.2,16.5,10.3,170,1938,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,2422,2728
$GC,2004,2.17,122.2,9.2,10.2,181,2011,0.00,2.55,0.00,0.000,4,0.000,0.055,3400,1025,2728
$GC,2052,2.19,138.0,5.0,9.2,188,2070,0.00,2.42,11.05,0.578,6,0.000,0.037,3400,2415,2666
$STATE,2094,end climb,SURFACE_DEPTH_REACHED
$STATE,2094,begin surface coast
$FINISH,0.8,1.026136
$STATE,2129,end surface coast,CONTROL_FINISHED_OK
$STATE,2129,begin surface
$SM_CCo,2156,217.18,0.518,0,0,783,600.00
$SM_GC,0.78,0.00,0.00,217.18,0.000,0.000,0.518,427,2605,783,-11.51,0.28,600.00
$IRIDIUM_FIX,4722.92,-12256.21,230907,020238
$TT8_MAMPS,0.068263
$HUMID,1745
$INTERNAL_PRESSURE,9.31046
$TCM_TEMP,18.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,9.8,9.3
$ALTIM_BOTTOM_PING,100.4,43.5
$24V_AH,24.0,1.313
$10V_AH,10.0,1.054
$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,29.325,30.450,196.900,217.175,0.000,0.000,0.000,0.000,2.500,0.000,2332.000,30.530,372.054,1061.597,519.796,395.541,125.222,30.181,777.937,0.000,394.373,0.000,13.290
$DEVICE_MAMPS,151.866,57.525,599.794,517.725,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,137.335,0.000,0.000,0.000,0.000,0.000,0.000,2332.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6454,200
$CFSIZE,260034560,256671744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,234445,4739.091,-12252.152,13,1.8,13,18.3