version: 66.02
glider: 118
mission: 6
dive: 22
start: 9 23 107 14 28 14
data:
$ID,118
$MISSION,6
$DIVE,22
$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,-16047.163
$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,48
$R_STBD_OVSHOOT,34
$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
$GPS1,142154,4739.134,-12251.947,15,3.2,34,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-63.5
$GPS2,142707,4739.165,-12251.887,28,1.1,28,18.3
$SPEED_LIMITS,0.134,0.221
$TGT_NAME,H1
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.145,-0.155
$KALMAN_X,2712.0,145.4,144.7,-1784.7,235.3
$KALMAN_Y,2779.4,186.6,-6.3,-2790.4,100.1
$MHEAD_RNG_PITCHd_Wd,204.8,337,-16.8,-7.752
$D_GRID,126
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.82,-112.3,0.0,0.0,0,77,0.00,0.00,-48.88,0.000,2,0.000,0.000,429,2509,2827
$GC,81,-1.83,-122.2,2.3,-4.3,8,130,12.10,2.62,-28.70,0.000,4,0.153,0.081,2597,3891,3730
$GC,158,-1.83,-122.2,6.2,-7.5,20,164,0.00,2.40,0.00,0.000,6,0.000,0.033,2597,2489,3731
$GC,230,-1.83,-122.2,11.8,-8.0,31,236,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2485,3731
$GC,303,-1.83,-122.2,17.5,-7.7,42,309,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2485,3733
$GC,379,-1.83,-122.2,23.4,-7.8,51,380,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2485,3733
$GC,570,-1.83,-122.2,38.1,-7.9,66,574,0.00,2.62,0.00,0.000,4,0.000,0.067,2597,3892,3734
$GC,661,-1.83,-122.2,46.2,-8.7,72,668,0.00,2.42,0.00,0.000,6,0.000,0.033,2597,2493,3734
$GC,860,-1.83,-122.2,62.3,-8.1,88,864,0.00,2.60,0.00,0.000,4,0.000,0.067,2597,3892,3735
$GC,918,-1.83,-122.2,67.5,-8.3,92,922,0.00,2.40,0.00,0.000,6,0.000,0.034,2597,2495,3735
$GC,1114,-1.83,-122.2,83.1,-7.8,107,1118,0.00,2.60,0.00,0.000,4,0.000,0.067,2597,3889,3734
$GC,1178,-1.83,-122.2,88.7,-8.6,111,1185,0.00,2.40,0.00,0.000,6,0.000,0.034,2597,2499,3735
$STATE,1329,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1329,begin apogee
$GC,1335,-0.50,0.0,100.6,8.3,123,1438,1.42,0.00,95.20,0.611,6,0.094,0.000,2886,2421,3228
$STATE,1439,end apogee,CONTROL_FINISHED_OK
$STATE,1439,begin climb
$GC,1443,1.83,122.2,103.4,0.0,132,1544,2.38,2.58,92.75,0.590,4,0.066,0.053,3393,1023,2730
$GC,1557,1.83,122.2,95.7,9.7,141,1565,0.00,2.47,0.00,0.000,6,0.000,0.033,3393,2411,2729
$GC,1754,1.83,122.2,73.8,11.2,157,1759,0.00,2.55,0.00,0.000,4,0.000,0.052,3393,1026,2729
$GC,1798,1.83,122.2,68.3,12.5,160,1807,0.00,2.45,0.00,0.000,6,0.000,0.033,3393,2411,2729
$GC,1995,1.83,122.2,45.8,11.3,176,1999,0.00,2.50,0.00,0.000,4,0.000,0.051,3393,1028,2729
$GC,2020,1.83,122.2,43.0,11.5,177,2027,0.00,2.45,0.00,0.000,6,0.000,0.034,3393,2414,2728
$GC,2216,1.83,122.2,21.8,10.4,193,2221,0.00,2.55,0.00,0.000,4,0.000,0.052,3393,1024,2728
$GC,2255,1.83,122.2,17.6,10.9,197,2262,0.00,2.42,0.00,0.000,6,0.000,0.034,3393,2415,2729
$GC,2328,1.83,122.2,10.4,9.7,208,2339,0.00,2.50,0.00,0.000,4,0.000,0.051,3393,1027,2727
$GC,2352,1.83,122.2,8.3,9.1,211,2358,0.00,2.42,0.00,0.000,6,0.000,0.034,3393,2419,2729
$STATE,2422,end climb,SURFACE_DEPTH_REACHED
$STATE,2422,begin surface coast
$FINISH,0.7,1.025404
$STATE,2443,end surface coast,CONTROL_FINISHED_OK
$STATE,2443,begin surface
$SM_CCo,2470,139.32,0.535,2,0,1598,400.08
$SM_GC,0.80,0.00,0.00,139.32,0.000,0.000,0.535,424,2514,1598,-11.85,0.40,400.08
$IRIDIUM_FIX,4722.92,-12249.11,230907,171754
$TT8_MAMPS,0.068263
$HUMID,1794
$INTERNAL_PRESSURE,9.33976
$TCM_TEMP,19.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.9,9.4
$ALTIM_BOTTOM_PING,100.6,42.8
$24V_AH,24.0,2.802
$10V_AH,10.0,2.273
$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,29.350,45.225,187.950,139.325,0.000,40.244,35.688,107.444,2.250,8.300,3062.700,28.990,436.610,1281.322,447.339,427.023,368.558,33.340,729.710,0.000,420.383,0.000,16.178
$DEVICE_MAMPS,153.400,81.302,610.532,534.599,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,155.364,0.000,0.000,0.000,0.000,0.000,0.000,3071.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6441,225
$CFSIZE,260034560,256106496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,230907,151245,4739.040,-12252.057,8,1.8,8,18.3