version: 66.02
glider: 118
mission: 6
dive: 9
start: 9 23 107 4 34 39
data:
$ID,118
$MISSION,6
$DIVE,9
$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,-15985.561
$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,35
$R_STBD_OVSHOOT,24
$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
$GPS1,042822,4739.717,-12252.958,14,2.2,33,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-60.4
$GPS2,043335,4739.707,-12252.948,12,5.9,31,18.3
$SPEED_LIMITS,0.175,0.240
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.133,-0.200
$KALMAN_X,1043.7,379.6,89.6,-1619.2,79.4
$KALMAN_Y,801.5,265.7,74.5,29.8,140.7
$MHEAD_RNG_PITCHd_Wd,195.3,546,-20.2,-10.101
$D_GRID,120
$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,-122.2,0.0,0.0,0,96,0.00,0.00,-67.43,0.000,2,0.000,0.000,428,2412,3027
$GC,99,-2.17,-122.2,2.1,-4.9,11,142,11.80,2.85,-20.52,0.000,4,0.157,0.081,2522,3905,3730
$GC,392,-2.17,-122.2,33.0,-10.0,46,399,0.00,2.47,0.00,0.000,6,0.000,0.035,2522,2493,3733
$GC,589,-2.17,-122.2,52.6,-9.9,62,594,0.00,2.62,0.00,0.000,4,0.000,0.067,2522,3899,3734
$GC,849,-2.17,-122.2,80.6,-11.2,81,853,0.00,2.42,0.00,0.000,6,0.000,0.035,2522,2493,3734
$STATE,1042,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1042,begin apogee
$GC,1048,-0.50,0.0,100.1,10.0,96,1153,1.83,0.00,95.20,0.607,6,0.100,0.000,2886,2411,3228
$STATE,1154,end apogee,CONTROL_FINISHED_OK
$STATE,1154,begin climb
$GC,1156,2.17,122.2,103.5,0.0,105,1261,2.72,2.55,93.12,0.588,4,0.061,0.055,3470,1025,2730
$GC,1406,2.17,122.2,76.1,14.1,124,1410,0.00,2.45,0.00,0.000,6,0.000,0.035,3470,2421,2729
$GC,1601,2.17,122.2,49.2,13.7,139,1606,0.00,2.55,0.00,0.000,4,0.000,0.053,3470,1037,2728
$GC,1686,2.17,122.2,37.7,13.2,145,1693,0.00,2.45,0.00,0.000,6,0.000,0.035,3472,2419,2728
$GC,1885,2.17,122.2,12.7,11.3,165,1890,0.00,0.00,0.00,0.000,6,0.000,0.000,3470,2419,2728
$GC,1957,2.17,122.2,4.6,10.2,176,1962,0.00,0.00,0.00,0.000,6,0.000,0.000,3470,2419,2727
$STATE,1993,end climb,SURFACE_DEPTH_REACHED
$STATE,1993,begin surface coast
$FINISH,0.1,1.025953
$STATE,2030,end surface coast,CONTROL_FINISHED_OK
$STATE,2030,begin surface
$SM_CCo,2059,137.27,0.532,1,0,1597,400.08
$SM_GC,0.72,0.00,0.00,137.27,0.000,0.000,0.532,426,2513,1597,-11.84,0.37,400.08
$IRIDIUM_FIX,4722.92,-12253.53,230907,070706
$TT8_MAMPS,0.068263
$HUMID,1803
$INTERNAL_PRESSURE,9.34952
$TCM_TEMP,20.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,9.6,9.3
$ALTIM_BOTTOM_PING,75.5,51.4
$24V_AH,24.0,1.851
$10V_AH,10.0,1.488
$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,30.150,20.625,188.325,137.275,0.000,40.420,32.809,111.325,1.500,0.000,2676.000,32.483,359.622,1024.794,416.297,402.991,337.334,33.333,661.754,0.000,388.333,0.000,5.668
$DEVICE_MAMPS,157.235,80.535,607.464,531.531,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,128.980,0.000,0.000,0.000,0.000,0.000,0.000,2676.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6455,187
$CFSIZE,260034560,256495616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230907,051232,4739.667,-12253.180,11,1.9,28,18.3