version: 66.02
glider: 118
mission: 6
dive: 30
start: 9 23 107 20 58 10
data:
$ID,118
$MISSION,6
$DIVE,30
$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,-16034.921
$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,38
$R_STBD_OVSHOOT,29
$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
$GPS1,205157,4738.620,-12253.460,14,1.4,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-59.9
$GPS2,205703,4738.626,-12253.388,11,1.5,11,18.3
$SPEED_LIMITS,0.134,0.221
$TGT_NAME,H5
$TGT_LATLONG,4738.532,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.129,-0.038
$KALMAN_X,3401.7,109.4,-145.1,-4017.7,-16.3
$KALMAN_Y,2955.2,-54.0,-24.5,-3698.6,-103.2
$MHEAD_RNG_PITCHd_Wd,88.0,290,-27.5,-7.752
$D_GRID,140
$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,-43.2,0.0,0.0,0,83,0.00,0.00,-54.85,0.000,2,0.000,0.000,426,2502,2962
$GC,86,-2.84,-73.1,2.1,-4.1,9,124,10.90,2.62,-18.92,0.000,4,0.156,0.080,2374,3902,3529
$GC,131,-2.89,-109.4,4.0,-3.4,16,144,0.00,2.42,-4.25,0.000,6,0.000,0.031,2374,2486,3674
$GC,214,-2.89,-109.4,11.9,-12.8,28,220,0.00,2.45,0.00,0.000,4,0.000,0.046,2374,1110,3677
$GC,470,-2.89,-109.4,45.3,-12.8,52,478,0.00,2.42,0.00,0.000,6,0.000,0.031,2374,2495,3678
$GC,666,-2.89,-109.4,69.9,-13.0,68,667,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2495,3679
$GC,856,-2.89,-109.4,94.9,-13.2,83,857,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2495,3679
$STATE,906,end dive,TARGET_DEPTH_EXCEEDED
$STATE,906,begin apogee
$GC,912,-0.50,0.0,101.4,12.7,87,1003,2.58,0.00,85.15,0.601,6,0.110,0.000,2887,2408,3229
$STATE,1004,end apogee,CONTROL_FINISHED_OK
$STATE,1004,begin climb
$GC,1007,2.89,109.4,103.9,0.0,95,1105,3.42,2.58,83.18,0.584,4,0.058,0.049,3641,1030,2782
$GC,1199,2.89,109.4,75.1,19.7,110,1203,0.00,2.42,0.00,0.000,6,0.000,0.033,3641,2415,2781
$GC,1397,2.89,109.4,38.3,18.5,125,1401,0.00,2.50,0.00,0.000,4,0.000,0.050,3641,1036,2781
$GC,1437,2.89,109.4,30.8,18.2,127,1443,0.00,2.42,0.00,0.000,6,0.000,0.034,3641,2426,2781
$STATE,1622,end climb,SURFACE_DEPTH_REACHED
$STATE,1622,begin surface coast
$FINISH,2.1,1.025306
$STATE,1652,end surface coast,CONTROL_FINISHED_OK
$STATE,1652,begin surface
$SM_CCo,1659,266.85,0.508,1,0,541,659.61
$SM_GC,0.58,14.43,0.00,0.00,0.037,0.000,0.000,426,2509,541,-11.79,0.28,659.37
$IRIDIUM_FIX,4722.92,-12256.21,240907,000006
$TT8_MAMPS,0.068263
$HUMID,1792
$INTERNAL_PRESSURE,9.30069
$TCM_TEMP,18.00
$XPDR_PINGS,8
$ALTIM_TOP_PING,9.7,5.0
$ALTIM_BOTTOM_PING,76.5,999.0
$24V_AH,23.5,3.375
$10V_AH,10.0,2.760
$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,31.325,20.100,168.325,266.850,0.000,39.303,36.025,119.514,3.500,8.300,2218.700,11.347,314.890,897.196,521.067,303.020,342.481,33.343,727.377,0.000,304.584,0.000,10.273
$DEVICE_MAMPS,155.701,79.768,601.328,507.754,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,106.838,0.000,0.000,0.000,0.000,0.000,0.000,2227.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3304,155
$CFSIZE,260034560,255897600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230907,213308,4738.586,-12253.084,10,1.7,10,18.3