version: 66.02
glider: 118
mission: 6
dive: 20
start: 9 23 107 12 42 0
data:
$ID,118
$MISSION,6
$DIVE,20
$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,43
$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,-16031.44
$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,40
$R_STBD_OVSHOOT,31
$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
$GPS1,122521,4738.655,-12252.006,13,1.7,13,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-62.4
$GPS2,124051,4738.711,-12251.916,12,1.7,12,18.3
$SPEED_LIMITS,0.134,0.221
$TGT_NAME,H1
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.085,0.204
$KALMAN_X,2076.2,151.6,72.5,-1122.1,120.4
$KALMAN_Y,2210.5,248.7,46.7,-3168.1,1.9
$MHEAD_RNG_PITCHd_Wd,319.0,546,-16.0,-7.752
$D_GRID,111
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.75,-122.2,0.0,0.0,0,76,0.00,0.00,-48.90,0.000,2,0.000,0.000,426,2508,2824
$GC,80,-1.75,-122.2,2.1,-3.7,8,129,12.25,2.55,-28.77,0.000,4,0.156,0.060,2609,1105,3731
$GC,373,-1.75,-122.2,21.8,-7.3,51,380,0.00,2.45,0.00,0.000,6,0.000,0.033,2612,2495,3735
$GC,570,-1.75,-122.2,36.0,-7.0,67,574,0.00,2.60,0.00,0.000,4,0.000,0.069,2609,3898,3736
$GC,660,-1.75,-122.2,43.4,-8.4,73,668,0.00,2.42,0.00,0.000,6,0.000,0.032,2609,2490,3736
$GC,857,-1.75,-122.2,58.3,-7.5,89,862,0.00,2.62,0.00,0.000,4,0.000,0.067,2609,3898,3736
$GC,956,-1.75,-122.2,66.3,-7.8,96,960,0.00,2.45,0.00,0.000,6,0.000,0.033,2611,2502,3736
$GC,1151,-1.75,-122.2,81.7,-7.9,111,1155,0.00,2.62,0.00,0.000,4,0.000,0.067,2609,3904,3736
$GC,1216,-1.75,-122.2,86.9,-7.7,115,1224,0.00,2.42,0.00,0.000,6,0.000,0.035,2609,2498,3736
$STATE,1400,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1400,begin apogee
$GC,1406,-0.50,0.0,100.4,7.1,130,1509,1.35,0.00,95.78,0.608,6,0.096,0.000,2884,2419,3228
$STATE,1510,end apogee,CONTROL_FINISHED_OK
$STATE,1510,begin climb
$GC,1512,1.75,122.2,102.7,0.0,139,1614,2.30,2.58,93.32,0.586,4,0.063,0.053,3376,1027,2730
$GC,1727,1.75,122.2,84.7,11.4,155,1735,0.00,2.47,0.00,0.000,6,0.000,0.034,3377,2418,2729
$GC,1923,1.75,122.2,63.5,10.4,171,1925,0.00,0.00,0.00,0.000,6,0.000,0.000,3377,2418,2728
$GC,2114,1.75,122.2,43.5,10.4,186,2115,0.00,0.00,0.00,0.000,6,0.000,0.000,3377,2418,2728
$GC,2306,1.75,122.2,23.9,10.5,201,2310,0.00,2.53,0.00,0.000,4,0.000,0.051,3377,1026,2728
$GC,2358,1.75,122.2,18.1,10.4,205,2364,0.00,2.42,0.00,0.000,6,0.000,0.034,3377,2416,2728
$GC,2430,1.75,122.2,11.0,9.5,216,2437,0.00,2.58,0.00,0.000,4,0.000,0.067,3377,3813,2728
$GC,2470,1.75,122.2,7.1,10.1,222,2476,0.00,2.40,0.00,0.000,6,0.000,0.031,3377,2416,2728
$GC,2542,1.86,205.0,2.6,4.2,233,2562,0.12,0.00,16.90,0.567,2,0.057,0.000,3410,2416,2613
$STATE,2562,end climb,SURFACE_DEPTH_REACHED
$STATE,2562,begin surface coast
$FINISH,1.7,1.025616
$STATE,2622,end surface coast,CONTROL_FINISHED_OK
$STATE,2622,begin surface
$SM_CCo,2649,112.35,0.529,0,0,1597,400.08
$SM_GC,0.86,0.00,0.00,112.35,0.000,0.000,0.529,428,2510,1597,-11.83,0.28,400.08
$IRIDIUM_FIX,4719.74,-12251.79,230907,161647
$TT8_MAMPS,0.069797
$HUMID,1789
$INTERNAL_PRESSURE,9.35929
$TCM_TEMP,18.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.7,9.4
$ALTIM_BOTTOM_PING,100.4,38.1
$24V_AH,24.0,2.656
$10V_AH,10.0,2.139
$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,29.775,35.400,206.000,112.350,0.000,157.827,194.240,272.533,2.000,12.450,3815.550,12.818,462.704,1591.995,403.111,447.482,817.392,33.336,691.994,0.000,462.995,0.000,13.279
$DEVICE_MAMPS,156.468,70.564,608.231,529.230,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,168.882,0.000,0.000,0.000,0.000,0.000,0.000,3828.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6430,245
$CFSIZE,260034560,256159744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,132857,4739.066,-12251.857,11,1.8,11,18.3