version: 66.02
glider: 118
mission: 6
dive: 27
start: 9 23 107 18 28 15
data:
$ID,118
$MISSION,6
$DIVE,27
$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,-16035.445
$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,33
$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
$GPS1,182202,4739.433,-12253.205,14,1.3,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-60.7
$GPS2,182708,4739.425,-12253.207,9,1.3,9,18.3
$SPEED_LIMITS,0.134,0.221
$TGT_NAME,H4
$TGT_LATLONG,4739.000,-12253.603
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.119,-0.186
$KALMAN_X,3155.8,186.0,117.3,-3886.6,-45.0
$KALMAN_Y,3005.7,92.2,121.0,-2561.7,-82.9
$MHEAD_RNG_PITCHd_Wd,194.3,929,-16.0,-7.752
$D_GRID,119
$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,-1.75,-122.2,0.0,0.0,0,90,0.00,0.00,-60.78,0.000,2,0.000,0.000,426,2507,3092
$GC,94,-1.75,-122.2,2.2,-4.2,10,132,12.27,2.65,-20.33,0.000,4,0.156,0.083,2615,3890,3729
$GC,383,-1.75,-122.2,26.1,-7.6,49,388,0.00,2.38,0.00,0.000,6,0.000,0.031,2615,2500,3733
$GC,580,-1.75,-122.2,40.2,-7.3,64,584,0.00,2.60,0.00,0.000,4,0.000,0.067,2615,3890,3734
$GC,679,-1.75,-122.2,48.4,-8.5,71,684,0.00,2.38,0.00,0.000,6,0.000,0.033,2615,2498,3735
$GC,874,-1.75,-122.2,64.6,-8.4,86,876,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2494,3735
$GC,1064,-1.75,-122.2,81.4,-8.9,101,1068,0.00,2.60,0.00,0.000,4,0.000,0.069,2615,3890,3735
$GC,1159,-1.75,-122.2,90.2,-10.0,107,1165,0.00,2.38,0.00,0.000,6,0.000,0.034,2615,2494,3735
$STATE,1264,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1264,begin apogee
$GC,1270,-0.50,0.0,100.3,9.1,116,1375,1.38,0.00,95.57,0.607,6,0.096,0.000,2889,2414,3228
$STATE,1375,end apogee,CONTROL_FINISHED_OK
$STATE,1376,begin climb
$GC,1378,1.75,122.2,103.3,0.0,125,1477,2.28,0.00,93.68,0.588,6,0.062,0.000,3379,2413,2730
$GC,1660,1.75,122.2,77.2,11.1,148,1665,0.00,2.53,0.00,0.000,4,0.000,0.054,3378,1023,2729
$GC,1725,1.75,122.2,70.0,11.1,152,1732,0.00,2.45,0.00,0.000,6,0.000,0.034,3379,2400,2728
$GC,1922,1.75,122.2,48.2,10.8,168,1926,0.00,2.50,0.00,0.000,4,0.000,0.051,3379,1024,2728
$GC,1968,1.75,122.2,43.2,10.7,171,1972,0.00,2.45,0.00,0.000,6,0.000,0.034,3379,2423,2728
$GC,2163,1.75,122.2,22.2,10.3,186,2167,0.00,2.58,0.00,0.000,4,0.000,0.068,3379,3817,2727
$GC,2182,1.75,122.2,20.2,10.3,187,2186,0.00,2.40,0.00,0.000,6,0.000,0.031,3379,2418,2728
$GC,2389,1.76,126.6,2.3,7.6,217,2396,0.00,2.58,2.70,0.635,4,0.000,0.051,3379,1018,2712
$STATE,2401,end climb,SURFACE_DEPTH_REACHED
$STATE,2401,begin surface coast
$FINISH,0.1,1.012404
$STATE,2434,end surface coast,CONTROL_FINISHED_OK
$STATE,2435,begin surface
$SM_CCo,2465,127.12,0.529,0,0,1598,400.08
$SM_GC,0.82,0.00,0.00,127.12,0.000,0.000,0.529,427,2505,1598,-11.84,0.14,400.08
$IRIDIUM_FIX,4722.92,-12256.21,230907,212158
$TT8_MAMPS,0.067496
$HUMID,1802
$INTERNAL_PRESSURE,9.33976
$TCM_TEMP,19.90
$XPDR_PINGS,2
$ALTIM_TOP_PING,9.9,9.6
$ALTIM_BOTTOM_PING,90.2,43.7
$24V_AH,24.0,3.152
$10V_AH,10.0,2.581
$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,29.100,35.200,191.950,127.125,0.000,37.129,36.053,121.625,2.000,12.450,3013.550,9.912,433.793,1312.361,412.057,401.131,368.790,33.351,664.877,0.000,415.478,0.000,11.747
$DEVICE_MAMPS,155.701,82.836,635.076,529.230,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,154.715,0.000,0.000,0.000,0.000,0.000,0.000,3026.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6462,224
$CFSIZE,260034560,255971328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,191237,4739.131,-12253.511,21,1.9,26,18.3