version: 66.02
glider: 118
mission: 6
dive: 29
start: 9 23 107 20 4 45
data:
$ID,118
$MISSION,6
$DIVE,29
$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,-16045.874
$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,47
$R_STBD_OVSHOOT,35
$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
$GPS1,195433,4738.953,-12253.711,9,1.7,9,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-60.2
$GPS2,200337,4738.923,-12253.644,16,1.6,33,18.3
$SPEED_LIMITS,0.134,0.221
$TGT_NAME,H5
$TGT_LATLONG,4738.532,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.157,-0.155
$KALMAN_X,3381.2,139.5,-74.4,-4420.1,-22.9
$KALMAN_Y,3003.7,-5.0,24.5,-3296.8,-101.0
$MHEAD_RNG_PITCHd_Wd,116.3,910,-16.0,-7.752
$D_GRID,137
$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,-1.75,-122.2,0.0,0.0,0,88,0.00,0.00,-60.75,0.000,2,0.000,0.000,430,2508,3102
$GC,92,-1.75,-122.2,2.2,-4.3,10,130,12.15,2.62,-20.60,0.000,4,0.153,0.080,2613,3890,3730
$GC,382,-1.75,-122.2,23.8,-7.4,51,386,0.00,2.40,0.00,0.000,6,0.000,0.032,2613,2503,3734
$GC,584,-1.75,-122.2,38.5,-7.2,67,588,0.00,2.60,0.00,0.000,4,0.000,0.067,2613,3892,3734
$GC,740,-1.75,-122.2,50.9,-8.5,78,747,0.00,2.42,0.00,0.000,6,0.000,0.032,2613,2492,3735
$GC,939,-1.75,-122.2,66.1,-7.5,94,944,0.00,2.60,0.00,0.000,4,0.000,0.067,2613,3890,3735
$GC,1072,-1.75,-122.2,76.6,-7.5,103,1078,0.00,2.38,0.00,0.000,6,0.000,0.033,2613,2500,3735
$GC,1270,-1.75,-122.2,90.9,-7.3,119,1275,0.00,2.60,0.00,0.000,4,0.000,0.068,2613,3892,3735
$GC,1361,-1.75,-122.2,98.4,-8.1,125,1369,0.00,2.40,0.00,0.000,6,0.000,0.034,2615,2502,3734
$STATE,1392,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1392,begin apogee
$GC,1398,-0.50,0.0,100.9,8.1,128,1502,1.38,0.00,95.30,0.607,6,0.098,0.000,2888,2408,3229
$STATE,1503,end apogee,CONTROL_FINISHED_OK
$STATE,1503,begin climb
$GC,1506,1.75,122.2,103.0,0.0,137,1604,2.28,0.00,93.28,0.588,6,0.061,0.000,3378,2407,2730
$GC,1788,1.75,122.2,76.4,10.5,160,1792,0.00,2.60,0.00,0.000,4,0.000,0.064,3379,3806,2728
$GC,1827,1.75,122.2,72.1,10.9,162,1833,0.00,2.40,0.00,0.000,6,0.000,0.031,3379,2418,2728
$GC,2022,1.75,122.2,50.4,11.1,178,2026,0.00,2.53,0.00,0.000,4,0.000,0.052,3378,1015,2728
$GC,2047,1.75,122.2,47.5,11.2,179,2054,0.00,2.45,0.00,0.000,6,0.000,0.034,3381,2400,2728
$GC,2243,1.75,122.2,26.2,10.7,195,2244,0.00,0.00,0.00,0.000,6,0.000,0.000,3379,2398,2728
$GC,2439,1.75,122.2,7.2,8.6,220,2445,0.00,2.50,0.00,0.000,4,0.000,0.052,3379,1024,2728
$GC,2498,1.81,165.6,2.8,5.9,229,2529,0.00,2.42,25.50,0.558,6,0.000,0.033,3379,2422,2553
$STATE,2533,end climb,SURFACE_DEPTH_REACHED
$STATE,2533,begin surface coast
$FINISH,-0.1,1.011400
$STATE,2627,end surface coast,CONTROL_FINISHED_OK
$STATE,2627,begin surface
$SM_CCo,2655,113.70,0.531,1,0,1597,400.08
$SM_GC,0.70,0.00,0.00,113.70,0.000,0.000,0.531,426,2501,1597,-11.84,0.03,400.08
$IRIDIUM_FIX,4722.92,-12256.21,230907,232334
$TT8_MAMPS,0.068263
$HUMID,1799
$INTERNAL_PRESSURE,9.35929
$TCM_TEMP,19.90
$XPDR_PINGS,11
$ALTIM_TOP_PING,9.6,9.4
$ALTIM_BOTTOM_PING,75.1,999.0
$24V_AH,24.0,3.292
$10V_AH,10.0,2.709
$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,29.075,35.175,214.075,113.700,0.000,77.314,150.866,121.920,4.250,16.600,3468.400,33.537,471.237,1448.493,430.270,467.688,532.052,33.348,709.334,0.000,460.887,0.000,13.350
$DEVICE_MAMPS,152.633,79.768,607.464,530.764,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,171.770,0.000,0.000,0.000,0.000,0.000,0.000,3485.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6427,249
$CFSIZE,260034560,255905792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230907,205157,4738.620,-12253.460,14,1.4,14,18.3