version: 66.02
glider: 118
mission: 6
dive: 31
start: 9 23 107 21 39 4
data:
$ID,118
$MISSION,6
$DIVE,31
$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,-16032.894
$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,50
$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
$GPS1,213308,4738.586,-12253.084,10,1.7,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-54.4
$GPS2,213757,4738.594,-12253.015,13,1.9,13,18.3
$SPEED_LIMITS,0.134,0.221
$TGT_NAME,H5
$TGT_LATLONG,4738.532,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.131,-0.031
$KALMAN_X,3601.0,85.7,-200.7,-3675.9,53.3
$KALMAN_Y,3084.1,-94.0,-87.8,-3787.3,-46.0
$MHEAD_RNG_PITCHd_Wd,238.6,261,-27.5,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-2.81,-43.2,0.0,0.0,0,126,0.00,0.00,-97.28,0.000,2,0.000,0.000,426,2510,2974
$GC,131,-2.84,-73.7,2.1,-4.1,16,168,10.88,2.60,-17.33,0.000,4,0.153,0.077,2376,3891,3532
$GC,274,-2.84,-73.7,13.0,-9.0,38,280,0.00,2.38,0.00,0.000,6,0.000,0.031,2376,2493,3535
$GC,346,-2.84,-73.7,19.2,-8.6,49,352,0.00,2.45,0.00,0.000,4,0.000,0.045,2376,1109,3536
$GC,398,-2.84,-73.7,23.8,-8.5,54,402,0.00,2.40,0.00,0.000,6,0.000,0.031,2376,2500,3537
$GC,594,-2.84,-73.7,40.4,-9.1,69,598,0.00,2.58,0.00,0.000,4,0.000,0.064,2376,3898,3539
$GC,658,-2.84,-73.7,47.3,-10.8,73,665,0.00,2.40,0.00,0.000,6,0.000,0.031,2376,2498,3539
$GC,855,-2.84,-73.7,67.2,-10.0,89,856,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2497,3540
$GC,1044,-2.84,-73.7,86.2,-10.0,104,1049,0.00,2.60,0.00,0.000,4,0.000,0.064,2376,3891,3540
$GC,1164,-2.84,-73.7,99.5,-11.1,113,1168,0.00,2.38,0.00,0.000,6,0.000,0.031,2376,2495,3540
$STATE,1174,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1174,begin apogee
$GC,1180,-0.50,0.0,101.0,10.7,114,1240,2.60,0.00,55.03,0.599,6,0.112,0.000,2885,2409,3229
$STATE,1241,end apogee,CONTROL_FINISHED_OK
$STATE,1241,begin climb
$GC,1244,2.84,73.7,103.0,0.0,119,1310,3.35,0.00,58.33,0.588,6,0.057,0.000,3626,2409,2929
$GC,1500,2.84,73.7,71.1,14.8,140,1501,0.00,0.00,0.00,0.000,6,0.000,0.000,3626,2409,2930
$GC,1690,2.84,73.7,43.2,14.2,155,1694,0.00,2.47,0.00,0.000,4,0.000,0.051,3626,1034,2931
$GC,1817,2.84,73.7,24.8,14.7,164,1821,0.00,2.42,0.00,0.000,6,0.000,0.033,3626,2407,2930
$STATE,2011,end climb,SURFACE_DEPTH_REACHED
$STATE,2011,begin surface coast
$FINISH,0.4,1.025639
$STATE,2029,end surface coast,CONTROL_FINISHED_OK
$STATE,2030,begin surface
$SM_CCo,2058,167.75,0.526,2,0,1598,400.08
$SM_GC,0.76,0.00,0.00,167.75,0.000,0.000,0.526,423,2516,1598,-11.85,0.45,400.08
$IRIDIUM_FIX,4719.74,-12254.47,240907,000058
$TT8_MAMPS,0.068263
$HUMID,1770
$INTERNAL_PRESSURE,9.34952
$TCM_TEMP,20.00
$XPDR_PINGS,8
$ALTIM_TOP_PING,9.2,9.6
$ALTIM_BOTTOM_PING,76.0,999.0
$24V_AH,24.0,3.436
$10V_AH,10.0,2.819
$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,31.725,24.950,113.350,167.750,0.000,37.406,30.724,108.068,3.500,8.300,2822.700,13.840,376.989,1073.122,416.504,351.306,338.201,33.351,642.399,0.000,359.127,0.000,10.294
$DEVICE_MAMPS,153.400,76.700,599.027,526.162,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,132.775,0.000,0.000,0.000,0.000,0.000,0.000,2831.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6447,193
$CFSIZE,260034560,255860736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,230907,221738,4738.568,-12253.173,33,1.0,33,18.3