version: 66.02
glider: 118
mission: 6
dive: 13
start: 9 23 107 7 35 0
data:
$ID,118
$MISSION,6
$DIVE,13
$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,-15992.744
$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,33
$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
$GPS1,072909,4739.036,-12253.586,13,1.0,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-61.8
$GPS2,073356,4739.042,-12253.586,14,1.0,14,18.3
$SPEED_LIMITS,0.175,0.240
$TGT_NAME,H5
$TGT_LATLONG,4738.532,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.139,-0.196
$KALMAN_X,1003.0,288.1,-43.2,-2147.9,-75.8
$KALMAN_Y,1282.9,324.3,105.2,-1765.4,-5.0
$MHEAD_RNG_PITCHd_Wd,126.4,1059,-20.2,-10.101
$D_GRID,134
$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,-122.2,0.0,0.0,0,97,0.00,0.00,-67.35,0.000,2,0.000,0.000,430,2507,3233
$GC,100,-2.17,-122.2,2.1,-5.1,11,137,11.93,2.65,-14.62,0.000,4,0.162,0.084,2522,3890,3730
$GC,327,-2.17,-122.2,27.3,-11.0,41,334,0.00,2.42,0.00,0.000,6,0.000,0.033,2522,2499,3733
$GC,524,-2.17,-122.2,47.8,-10.6,57,528,0.00,2.60,0.00,0.000,4,0.000,0.069,2522,3890,3733
$GC,636,-2.17,-122.2,59.9,-11.1,65,640,0.00,2.40,0.00,0.000,6,0.000,0.034,2522,2495,3733
$GC,833,-2.17,-122.2,80.2,-10.0,80,837,0.00,2.60,0.00,0.000,4,0.000,0.068,2522,3890,3733
$GC,910,-2.17,-122.2,89.1,-11.2,85,918,0.00,2.42,0.00,0.000,6,0.000,0.034,2522,2495,3733
$STATE,1017,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1017,begin apogee
$GC,1023,-0.50,0.0,100.5,10.3,94,1127,1.88,0.00,95.15,0.611,6,0.098,0.000,2885,2418,3228
$STATE,1128,end apogee,CONTROL_FINISHED_OK
$STATE,1128,begin climb
$GC,1131,2.17,122.2,102.8,0.0,103,1234,2.72,2.58,92.88,0.591,4,0.063,0.053,3468,1022,2730
$GC,1301,2.17,122.2,86.5,13.7,116,1306,0.00,2.45,0.00,0.000,6,0.000,0.034,3468,2413,2729
$GC,1496,2.17,122.2,59.8,13.3,131,1498,0.00,0.00,0.00,0.000,6,0.000,0.000,3468,2413,2729
$GC,1687,2.17,122.2,34.8,13.0,146,1689,0.00,0.00,0.00,0.000,6,0.000,0.000,3468,2413,2729
$GC,1878,2.17,122.2,11.6,10.2,166,1884,0.00,2.53,0.00,0.000,4,0.000,0.053,3468,1022,2729
$GC,1965,2.17,122.2,2.2,10.3,179,1971,0.00,2.42,0.00,0.000,6,0.000,0.034,3468,2417,2729
$STATE,1976,end climb,SURFACE_DEPTH_REACHED
$STATE,1976,begin surface coast
$FINISH,0.9,1.025394
$STATE,2003,end surface coast,CONTROL_FINISHED_OK
$STATE,2003,begin surface
$SM_CCo,2032,130.07,0.532,1,0,1598,400.08
$SM_GC,0.76,0.00,0.00,130.07,0.000,0.000,0.532,427,2509,1598,-11.84,0.23,400.08
$IRIDIUM_FIX,4722.92,-12251.79,230907,101008
$TT8_MAMPS,0.068263
$HUMID,1805
$INTERNAL_PRESSURE,9.34952
$TCM_TEMP,19.90
$XPDR_PINGS,4
$ALTIM_TOP_PING,9.5,9.1
$ALTIM_BOTTOM_PING,75.0,999.0
$24V_AH,24.0,2.136
$10V_AH,10.0,1.723
$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,30.600,25.325,188.025,130.075,0.000,40.590,31.072,104.069,2.500,16.600,2549.400,14.622,353.752,1041.029,406.404,349.702,330.509,33.330,637.994,0.000,355.094,0.000,10.282
$DEVICE_MAMPS,161.837,83.603,610.532,532.298,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,127.856,0.000,0.000,0.000,0.000,0.000,0.000,2566.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6433,185
$CFSIZE,260034560,256376832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230907,081203,4738.859,-12253.412,11,1.5,11,18.3