version: 66.02
glider: 118
mission: 6
dive: 28
start: 9 23 107 19 18 28
data:
$ID,118
$MISSION,6
$DIVE,28
$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,-16028.596
$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,30
$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
$GPS1,191237,4739.131,-12253.511,21,1.9,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-60.8
$GPS2,191721,4739.111,-12253.489,12,1.1,12,18.3
$SPEED_LIMITS,0.134,0.221
$TGT_NAME,H4
$TGT_LATLONG,4739.000,-12253.603
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.090,-0.100
$KALMAN_X,3219.7,164.4,30.0,-4193.7,-66.4
$KALMAN_Y,2980.7,48.3,87.3,-3041.8,-122.4
$MHEAD_RNG_PITCHd_Wd,203.9,249,-27.5,-7.752
$D_GRID,131
$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,-2.81,-43.2,0.0,0.0,0,89,0.00,0.00,-60.92,0.000,2,0.000,0.000,427,2505,3109
$GC,93,-2.84,-72.9,2.1,-4.2,10,125,11.12,2.60,-14.15,0.000,4,0.157,0.078,2374,3903,3526
$GC,375,-2.84,-72.9,30.6,-10.1,45,383,0.00,2.42,0.00,0.000,6,0.000,0.031,2374,2494,3530
$GC,572,-2.84,-72.9,49.1,-9.4,61,577,0.00,2.60,0.00,0.000,4,0.000,0.064,2374,3901,3530
$GC,804,-2.84,-72.9,75.0,-11.3,78,808,0.00,2.40,0.00,0.000,6,0.000,0.032,2374,2495,3530
$GC,999,-2.84,-72.9,97.3,-11.9,93,1003,0.00,2.45,0.00,0.000,4,0.000,0.048,2374,1113,3531
$STATE,1024,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1024,begin apogee
$GC,1032,-0.50,0.0,100.4,12.1,94,1098,2.58,0.00,57.03,0.612,6,0.111,0.000,2888,2416,3229
$STATE,1099,end apogee,CONTROL_FINISHED_OK
$STATE,1099,begin climb
$GC,1101,2.84,72.9,103.5,0.0,100,1164,3.38,0.00,55.90,0.597,6,0.055,0.000,3629,2415,2931
$GC,1347,2.84,72.9,74.2,14.4,120,1351,0.00,2.50,0.00,0.000,4,0.000,0.051,3629,1033,2929
$GC,1499,2.84,72.9,50.7,15.7,131,1504,0.00,2.42,0.00,0.000,6,0.000,0.033,3629,2409,2929
$GC,1701,2.84,72.9,20.7,14.9,147,1705,0.00,2.50,0.00,0.000,4,0.000,0.051,3629,1027,2929
$GC,1766,2.84,72.9,12.5,11.8,156,1773,0.00,2.42,0.00,0.000,6,0.000,0.033,3632,2422,2931
$GC,1840,2.84,72.9,4.7,10.6,167,1846,0.00,2.50,0.00,0.000,4,0.000,0.048,3629,1031,2929
$GC,1872,2.84,72.9,2.1,7.9,172,1879,0.00,2.42,0.00,0.000,6,0.000,0.033,3629,2424,2929
$STATE,1885,end climb,SURFACE_DEPTH_REACHED
$STATE,1885,begin surface coast
$FINISH,1.6,1.026237
$STATE,1917,end surface coast,CONTROL_FINISHED_OK
$STATE,1917,begin surface
$SM_CCo,1946,155.90,0.528,2,0,1598,400.08
$SM_GC,0.76,0.00,0.00,155.90,0.000,0.000,0.528,430,2508,1598,-11.82,0.23,400.08
$IRIDIUM_FIX,4719.74,-12251.79,230907,222200
$TT8_MAMPS,0.068263
$HUMID,1781
$INTERNAL_PRESSURE,9.34952
$TCM_TEMP,19.90
$XPDR_PINGS,6
$ALTIM_TOP_PING,9.6,9.1
$ALTIM_BOTTOM_PING,75.0,999.0
$24V_AH,24.0,3.211
$10V_AH,10.0,2.635
$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,32.025,29.675,112.925,155.900,0.000,36.260,36.407,98.658,3.500,8.300,2485.700,12.675,367.309,997.231,380.885,354.718,324.504,33.343,598.869,0.000,353.900,0.000,17.569
$DEVICE_MAMPS,157.235,78.234,612.066,528.463,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,123.525,0.000,0.000,0.000,0.000,0.000,0.000,2494.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3312,179
$CFSIZE,260034560,255950848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,230907,195433,4738.953,-12253.711,9,1.7,9,18.3