version: 66.02
glider: 118
mission: 6
dive: 16
start: 9 23 107 9 42 9
data:
$ID,118
$MISSION,6
$DIVE,16
$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,-16020.863
$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,45
$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
$GPS1,093556,4738.589,-12253.106,28,2.0,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-63.7
$GPS2,094105,4738.605,-12253.038,13,2.2,32,18.3
$SPEED_LIMITS,0.175,0.240
$TGT_NAME,H5
$TGT_LATLONG,4738.532,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.141,-0.104
$KALMAN_X,1398.6,193.5,-86.4,-1726.1,75.5
$KALMAN_Y,1753.4,294.9,46.3,-2959.0,70.4
$MHEAD_RNG_PITCHd_Wd,215.4,246,-27.9,-10.101
$D_GRID,137
$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,-2.86,-64.1,0.0,0.0,0,78,0.00,0.00,-48.90,0.000,2,0.000,0.000,427,2506,2823
$GC,82,-2.92,-109.9,2.1,-5.3,8,126,10.90,2.65,-27.95,0.000,4,0.158,0.079,2360,3890,3678
$GC,198,-2.92,-109.9,12.1,-12.6,26,205,0.00,2.38,0.00,0.000,6,0.000,0.031,2360,2503,3680
$GC,277,-2.92,-109.9,22.3,-13.4,37,279,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2497,3681
$GC,467,-2.92,-109.9,47.4,-14.0,52,469,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2497,3683
$GC,657,-2.92,-109.9,74.1,-14.1,67,663,0.00,2.62,0.00,0.000,4,0.000,0.067,2360,3889,3682
$GC,788,-2.92,-109.9,94.0,-15.6,77,793,0.00,2.40,0.00,0.000,6,0.000,0.032,2360,2505,3683
$STATE,837,end dive,TARGET_DEPTH_EXCEEDED
$STATE,837,begin apogee
$GC,843,-0.50,0.0,101.4,14.7,81,936,2.70,0.00,86.28,0.602,6,0.114,0.000,2884,2407,3229
$STATE,937,end apogee,CONTROL_FINISHED_OK
$STATE,937,begin climb
$GC,939,2.92,109.9,104.3,0.0,89,1030,3.45,0.00,84.18,0.585,6,0.059,0.000,3641,2406,2780
$GC,1213,2.92,109.9,63.7,17.8,111,1217,0.00,2.50,0.00,0.000,4,0.000,0.053,3641,1025,2779
$GC,1298,2.92,109.9,47.4,19.3,117,1303,0.00,2.42,0.00,0.000,6,0.000,0.033,3641,2412,2779
$GC,1496,2.92,109.9,12.8,16.7,135,1502,0.00,2.50,0.00,0.000,4,0.000,0.051,3641,1033,2779
$STATE,1567,end climb,SURFACE_DEPTH_REACHED
$STATE,1567,begin surface coast
$FINISH,0.1,1.025426
$STATE,1580,end surface coast,CONTROL_FINISHED_OK
$STATE,1580,begin surface
$SM_CCo,1610,143.88,0.525,1,0,1597,400.08
$SM_GC,0.88,0.00,0.00,143.88,0.000,0.000,0.525,427,2503,1597,-11.84,0.08,400.08
$IRIDIUM_FIX,4722.92,-12253.53,230907,121248
$TT8_MAMPS,0.06903
$HUMID,1793
$INTERNAL_PRESSURE,9.34952
$TCM_TEMP,19.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.8,9.7
$ALTIM_BOTTOM_PING,75.1,999.0
$24V_AH,24.0,2.341
$10V_AH,10.0,1.881
$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,31.650,20.225,170.450,143.875,0.000,40.948,31.372,105.687,1.750,8.300,2185.700,33.491,295.064,792.518,398.081,289.883,319.405,33.327,583.822,0.000,275.644,0.000,11.886
$DEVICE_MAMPS,158.002,79.001,602.095,525.395,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,102.042,0.000,0.000,0.000,0.000,0.000,0.000,2194.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3296,148
$CFSIZE,260034560,256299008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230907,101226,4738.571,-12253.149,14,1.7,14,18.3