version: 66.02
glider: 118
mission: 6
dive: 26
start: 9 23 107 17 47 14
data:
$ID,118
$MISSION,6
$DIVE,26
$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,-16041.535
$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,37
$R_STBD_OVSHOOT,38
$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
$GPS1,174046,4739.390,-12252.877,13,4.0,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-60.7
$GPS2,174607,4739.381,-12252.878,14,1.3,30,18.3
$SPEED_LIMITS,0.134,0.221
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.149,0.068
$KALMAN_X,3099.3,196.0,189.4,-3501.4,-20.0
$KALMAN_Y,3059.7,125.2,123.8,-2732.2,-19.3
$MHEAD_RNG_PITCHd_Wd,276.3,434,-22.5,-7.752
$D_GRID,121
$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,-2.33,-64.2,0.0,0.0,0,89,0.00,0.00,-60.83,0.000,2,0.000,0.000,424,2512,3092
$GC,92,-2.38,-108.2,2.1,-4.2,10,130,11.60,2.55,-18.58,0.000,4,0.159,0.059,2478,1105,3673
$GC,137,-2.40,-122.2,4.9,-5.9,17,145,0.00,2.42,-1.45,0.000,6,0.000,0.033,2478,2494,3728
$GC,210,-2.40,-122.2,13.7,-11.9,28,217,0.00,2.60,0.00,0.000,4,0.000,0.070,2478,3893,3730
$GC,342,-2.40,-122.2,29.5,-11.3,42,347,0.00,2.40,0.00,0.000,6,0.000,0.032,2478,2491,3731
$GC,538,-2.40,-122.2,50.9,-11.3,57,543,0.00,2.62,0.00,0.000,4,0.000,0.066,2478,3900,3732
$GC,584,-2.40,-122.2,56.6,-12.5,60,588,0.00,2.40,0.00,0.000,6,0.000,0.032,2478,2500,3732
$GC,781,-2.40,-122.2,78.7,-11.3,75,786,0.00,2.62,0.00,0.000,4,0.000,0.067,2478,3904,3733
$GC,846,-2.40,-122.2,86.8,-12.0,79,853,0.00,2.42,0.00,0.000,6,0.000,0.033,2478,2500,3733
$STATE,964,end dive,TARGET_DEPTH_EXCEEDED
$STATE,964,begin apogee
$GC,972,-0.50,0.0,100.5,11.3,89,1075,2.03,0.00,95.35,0.606,6,0.102,0.000,2884,2404,3228
$STATE,1076,end apogee,CONTROL_FINISHED_OK
$STATE,1076,begin climb
$GC,1079,2.40,122.2,103.2,0.0,98,1185,2.95,2.55,93.22,0.587,4,0.061,0.052,3515,1038,2729
$GC,1292,2.40,122.2,77.8,15.0,115,1296,0.00,2.42,0.00,0.000,6,0.000,0.033,3515,2420,2728
$GC,1488,2.40,122.2,49.2,14.6,130,1492,0.00,2.53,0.00,0.000,4,0.000,0.051,3515,1030,2727
$GC,1547,2.40,122.2,40.3,15.4,134,1551,0.00,2.42,0.00,0.000,6,0.000,0.034,3515,2417,2727
$GC,1745,2.40,122.2,12.3,11.9,153,1751,0.00,2.50,0.00,0.000,4,0.000,0.051,3515,1035,2727
$GC,1783,2.40,122.2,7.2,13.6,159,1790,0.00,2.42,0.00,0.000,6,0.000,0.034,3515,2425,2728
$STATE,1840,end climb,SURFACE_DEPTH_REACHED
$STATE,1840,begin surface coast
$FINISH,0.1,1.004676
$STATE,1869,end surface coast,CONTROL_FINISHED_OK
$STATE,1870,begin surface
$SM_CCo,1896,133.25,0.524,0,0,1597,400.08
$SM_GC,0.72,0.00,0.00,133.25,0.000,0.000,0.524,426,2509,1597,-11.84,0.23,400.08
$IRIDIUM_FIX,4722.92,-12251.79,230907,202039
$TT8_MAMPS,0.06903
$HUMID,1797
$INTERNAL_PRESSURE,9.33976
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.8,9.3
$ALTIM_BOTTOM_PING,90.5,42.8
$24V_AH,24.0,3.080
$10V_AH,10.0,2.517
$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,30.425,35.150,188.575,133.250,0.000,32.791,51.625,105.967,1.500,12.450,2471.550,30.456,343.695,927.623,414.952,347.724,345.621,33.348,642.711,0.000,339.397,0.000,11.739
$DEVICE_MAMPS,158.769,69.797,605.930,523.861,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,118.782,0.000,0.000,0.000,0.000,0.000,0.000,2484.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3305,172
$CFSIZE,260034560,256004096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,182202,4739.433,-12253.205,14,1.3,14,18.3