version: 66.02
glider: 118
mission: 6
dive: 21
start: 9 23 107 13 37 46
data:
$ID,118
$MISSION,6
$DIVE,21
$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,-16038.564
$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,36
$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
$GPS1,132857,4739.066,-12251.857,11,1.8,11,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-63.2
$GPS2,133638,4739.117,-12251.768,14,1.5,31,18.3
$SPEED_LIMITS,0.134,0.221
$TGT_NAME,H1
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.191,-0.080
$KALMAN_X,2440.0,138.1,93.0,-1307.8,207.5
$KALMAN_Y,2429.8,235.9,32.4,-2617.2,-5.1
$MHEAD_RNG_PITCHd_Wd,228.9,362,-17.3,-7.752
$D_GRID,125
$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,-1.86,-106.0,0.0,0.0,0,76,0.00,0.00,-48.85,0.000,2,0.000,0.000,427,2510,2824
$GC,80,-1.88,-122.2,2.1,-3.7,8,130,12.07,2.58,-30.27,0.000,4,0.155,0.079,2585,3892,3729
$GC,144,-1.88,-122.2,4.7,-5.7,18,151,0.00,2.42,0.00,0.000,6,0.000,0.033,2585,2479,3731
$GC,217,-1.88,-122.2,9.7,-6.8,29,223,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2479,3731
$GC,288,-1.88,-122.2,15.7,-8.4,40,294,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2479,3732
$GC,369,-1.88,-122.2,22.2,-8.2,50,373,0.00,2.62,0.00,0.000,4,0.000,0.065,2586,3891,3732
$GC,419,-1.88,-122.2,27.1,-8.8,53,427,0.00,2.42,0.00,0.000,6,0.000,0.033,2585,2492,3733
$GC,616,-1.88,-122.2,43.3,-8.5,69,621,0.00,2.62,0.00,0.000,4,0.000,0.067,2585,3889,3734
$GC,740,-1.88,-122.2,54.5,-8.9,78,747,0.00,2.40,0.00,0.000,6,0.000,0.034,2586,2503,3734
$GC,940,-1.88,-122.2,70.5,-8.4,94,944,0.00,2.58,0.00,0.000,4,0.000,0.068,2586,3888,3734
$GC,992,-1.88,-122.2,75.4,-8.8,97,999,0.00,2.38,0.00,0.000,6,0.000,0.035,2585,2496,3734
$GC,1188,-1.88,-122.2,91.8,-8.5,113,1192,0.00,2.60,0.00,0.000,4,0.000,0.068,2585,3888,3734
$GC,1273,-1.88,-122.2,99.4,-9.0,119,1278,0.00,2.40,0.00,0.000,6,0.000,0.035,2586,2507,3734
$STATE,1286,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1286,begin apogee
$GC,1292,-0.50,0.0,100.6,8.8,120,1395,1.48,0.00,95.28,0.609,6,0.096,0.000,2885,2409,3228
$STATE,1396,end apogee,CONTROL_FINISHED_OK
$STATE,1396,begin climb
$GC,1398,1.88,122.2,102.9,0.0,129,1497,2.42,0.00,93.38,0.588,6,0.062,0.000,3404,2408,2730
$GC,1681,1.88,122.2,75.9,11.5,152,1682,0.00,0.00,0.00,0.000,6,0.000,0.000,3404,2408,2729
$GC,1871,1.88,122.2,54.4,11.7,167,1875,0.00,2.47,0.00,0.000,4,0.000,0.053,3404,1035,2728
$GC,1922,1.88,122.2,48.2,12.2,170,1929,0.00,2.40,0.00,0.000,6,0.000,0.033,3404,2400,2728
$GC,2119,1.88,122.2,26.7,10.7,186,2120,0.00,0.00,0.00,0.000,6,0.000,0.000,3404,2400,2728
$GC,2313,1.88,122.2,6.9,9.5,210,2318,0.00,0.00,0.00,0.000,6,0.000,0.000,3404,2399,2728
$STATE,2369,end climb,SURFACE_DEPTH_REACHED
$STATE,2369,begin surface coast
$FINISH,1.1,1.025465
$STATE,2398,end surface coast,CONTROL_FINISHED_OK
$STATE,2399,begin surface
$SM_CCo,2426,137.88,0.532,1,0,1597,400.08
$SM_GC,0.84,0.00,0.00,137.88,0.000,0.000,0.532,429,2509,1597,-11.83,0.23,400.08
$IRIDIUM_FIX,4722.92,-12253.53,230907,171758
$TT8_MAMPS,0.067496
$HUMID,1799
$INTERNAL_PRESSURE,9.33976
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.4,9.0
$ALTIM_BOTTOM_PING,75.4,999.0
$24V_AH,24.0,2.731
$10V_AH,10.0,2.206
$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,29.600,30.200,188.650,137.875,0.000,79.320,53.609,132.902,1.750,12.450,3108.550,31.944,432.871,1329.547,437.019,416.477,443.150,33.336,695.716,0.000,408.212,0.000,13.149
$DEVICE_MAMPS,154.934,79.001,608.998,532.298,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,153.932,0.000,0.000,0.000,0.000,0.000,0.000,3121.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6443,223
$CFSIZE,260034560,256139264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230907,142154,4739.134,-12251.947,15,3.2,34,18.3