version: 66.02
glider: 118
mission: 6
dive: 17
start: 9 23 107 10 18 27
data:
$ID,118
$MISSION,6
$DIVE,17
$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,-16041.259
$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,46
$R_STBD_OVSHOOT,27
$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
$GPS1,101226,4738.571,-12253.149,14,1.7,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-63.8
$GPS2,101723,4738.582,-12253.076,14,2.3,33,18.3
$SPEED_LIMITS,0.175,0.240
$TGT_NAME,H6
$TGT_LATLONG,4738.532,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.226,-0.082
$KALMAN_X,1611.4,172.8,-62.4,-1989.2,138.1
$KALMAN_Y,1921.2,286.3,40.1,-3154.9,99.5
$MHEAD_RNG_PITCHd_Wd,91.6,847,-20.2,-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,-2.17,-122.2,0.0,0.0,0,78,0.00,0.00,-48.95,0.000,2,0.000,0.000,427,2503,2845
$GC,82,-2.17,-122.2,2.3,-6.0,8,132,11.77,2.53,-30.08,0.000,4,0.156,0.059,2522,1110,3730
$GC,383,-2.17,-122.2,28.4,-10.5,48,387,0.00,2.42,0.00,0.000,6,0.000,0.033,2522,2502,3734
$GC,579,-2.17,-122.2,47.6,-9.9,63,583,0.00,2.50,0.00,0.000,4,0.000,0.048,2521,1108,3734
$GC,651,-2.17,-122.2,55.7,-10.4,68,655,0.00,2.42,0.00,0.000,6,0.000,0.033,2522,2504,3734
$GC,847,-2.17,-122.2,76.4,-10.7,83,851,0.00,2.58,0.00,0.000,4,0.000,0.071,2522,3894,3734
$GC,965,-2.17,-122.2,89.1,-10.6,91,972,0.00,2.40,0.00,0.000,6,0.000,0.033,2522,2494,3734
$STATE,1071,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1071,begin apogee
$GC,1077,-0.50,0.0,100.1,10.2,100,1181,1.80,0.00,95.82,0.605,6,0.097,0.000,2884,2414,3228
$STATE,1182,end apogee,CONTROL_FINISHED_OK
$STATE,1182,begin climb
$GC,1185,2.17,122.2,103.0,0.0,109,1290,2.72,2.58,93.82,0.586,4,0.063,0.053,3467,1032,2730
$GC,1359,2.17,122.2,86.1,14.4,123,1363,0.00,2.42,0.00,0.000,6,0.000,0.034,3467,2414,2729
$GC,1554,2.17,122.2,59.5,13.3,138,1555,0.00,0.00,0.00,0.000,6,0.000,0.000,3467,2414,2728
$GC,1745,2.17,122.2,34.4,12.7,153,1750,0.00,2.55,0.00,0.000,4,0.000,0.052,3467,1027,2728
$GC,1810,2.17,122.2,25.4,13.3,158,1815,0.00,2.42,0.00,0.000,6,0.000,0.034,3467,2418,2728
$GC,2013,2.25,192.9,2.8,6.2,185,2063,0.10,2.65,40.80,0.548,4,0.060,0.067,3494,3825,2441
$STATE,2067,end climb,SURFACE_DEPTH_REACHED
$STATE,2069,begin surface coast
$FINISH,1.2,1.025531
$STATE,2094,end surface coast,CONTROL_FINISHED_OK
$STATE,2094,begin surface
$SM_CCo,2124,98.95,0.526,0,0,1597,400.08
$SM_GC,0.89,0.00,0.00,98.95,0.000,0.000,0.526,426,2476,1597,-11.84,-0.68,400.08
$IRIDIUM_FIX,4719.74,-12251.79,230907,131358
$TT8_MAMPS,0.068263
$HUMID,1807
$INTERNAL_PRESSURE,9.34952
$TCM_TEMP,19.90
$XPDR_PINGS,2
$ALTIM_TOP_PING,9.9,9.4
$ALTIM_BOTTOM_PING,75.1,999.0
$24V_AH,24.0,2.410
$10V_AH,10.0,1.939
$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,30.650,29.925,230.450,98.950,0.000,39.832,30.653,96.123,2.000,8.300,2682.700,34.456,369.428,1058.078,397.011,396.637,326.878,33.338,646.637,0.000,383.321,0.000,10.281
$DEVICE_MAMPS,156.468,70.564,605.163,526.162,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,136.533,0.000,0.000,0.000,0.000,0.000,0.000,2691.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6454,198
$CFSIZE,260034560,256262144
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,105637,4738.591,-12252.687,13,1.3,23,18.3