version: 66.02
glider: 118
mission: 6
dive: 32
start: 9 23 107 22 23 28
data:
$ID,118
$MISSION,6
$DIVE,32
$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,-16028.981
$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
$GPS1,221738,4738.568,-12253.173,33,1.0,33,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-61.2
$GPS2,222221,4738.585,-12253.099,13,1.2,13,18.3
$SPEED_LIMITS,0.134,0.221
$TGT_NAME,H6
$TGT_LATLONG,4738.532,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.216,-0.045
$KALMAN_X,3901.9,43.4,-232.2,-4008.5,154.6
$KALMAN_Y,3236.9,-142.4,-133.1,-3863.2,37.9
$MHEAD_RNG_PITCHd_Wd,83.5,875,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.75,-122.2,0.0,0.0,0,83,0.00,0.00,-54.88,0.000,2,0.000,0.000,423,2516,2998
$GC,87,-1.75,-122.2,2.4,-5.1,9,130,12.23,2.62,-21.73,0.000,4,0.155,0.082,2609,3891,3729
$GC,137,-1.75,-122.2,5.1,-4.5,17,143,0.00,2.40,0.00,0.000,6,0.000,0.032,2609,2493,3730
$GC,209,-1.75,-122.2,9.9,-6.7,28,215,0.00,2.62,0.00,0.000,4,0.000,0.068,2609,3899,3731
$GC,465,-1.75,-122.2,32.1,-9.2,56,473,0.00,2.42,0.00,0.000,6,0.000,0.031,2609,2495,3733
$GC,663,-1.75,-122.2,47.7,-7.7,72,667,0.00,2.60,0.00,0.000,4,0.000,0.067,2609,3892,3734
$GC,846,-1.75,-122.2,62.7,-8.1,85,854,0.00,2.40,0.00,0.000,6,0.000,0.033,2609,2503,3734
$GC,1043,-1.75,-122.2,77.2,-7.2,101,1047,0.00,2.58,0.00,0.000,4,0.000,0.066,2609,3890,3734
$GC,1076,-1.75,-122.2,79.6,-7.4,103,1080,0.00,2.38,0.00,0.000,6,0.000,0.033,2609,2501,3734
$GC,1274,-1.75,-122.2,93.5,-7.2,118,1278,0.00,2.60,0.00,0.000,4,0.000,0.067,2609,3897,3734
$GC,1319,-1.75,-122.2,97.5,-8.1,121,1324,0.00,2.40,0.00,0.000,6,0.000,0.034,2609,2492,3734
$STATE,1364,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1364,begin apogee
$GC,1370,-0.50,0.0,100.8,7.7,124,1473,1.35,0.00,94.80,0.607,6,0.093,0.000,2885,2406,3229
$STATE,1474,end apogee,CONTROL_FINISHED_OK
$STATE,1474,begin climb
$GC,1477,1.75,122.2,103.3,0.0,133,1582,2.30,2.55,92.88,0.586,4,0.064,0.051,3378,1034,2730
$GC,1641,1.75,122.2,90.1,11.3,146,1650,0.00,2.45,0.00,0.000,6,0.000,0.032,3377,2413,2730
$GC,1838,1.75,122.2,68.9,11.1,162,1842,0.00,2.53,0.00,0.000,4,0.000,0.051,3378,1024,2730
$GC,1897,1.75,122.2,62.2,12.2,166,1901,0.00,2.42,0.00,0.000,6,0.000,0.033,3378,2417,2729
$GC,2093,1.75,122.2,41.2,10.2,181,2094,0.00,0.00,0.00,0.000,6,0.000,0.000,3378,2417,2729
$GC,2283,1.75,122.2,22.1,10.6,196,2285,0.00,0.00,0.00,0.000,6,0.000,0.000,3378,2417,2729
$GC,2479,1.77,139.2,3.6,7.0,224,2498,0.00,0.00,12.30,0.576,6,0.000,0.000,3378,2417,2660
$GC,2566,1.99,315.0,3.0,0.3,237,2623,0.20,0.00,53.42,0.544,2,0.048,0.000,3433,2417,2293
$STATE,2623,end climb,SURFACE_DEPTH_REACHED
$STATE,2624,begin surface coast
$FINISH,0.1,1.013176
$STATE,2708,end surface coast,CONTROL_FINISHED_OK
$STATE,2708,begin surface
$SM_CCo,2736,84.47,0.525,0,0,1598,400.08
$SM_GC,0.81,0.00,0.00,84.47,0.000,0.000,0.525,425,2510,1598,-11.85,0.28,400.08
$IRIDIUM_FIX,4722.92,-12251.79,240907,010106
$TT8_MAMPS,0.068263
$HUMID,1804
$INTERNAL_PRESSURE,9.37882
$TCM_TEMP,20.00
$XPDR_PINGS,5
$ALTIM_TOP_PING,9.9,9.5
$ALTIM_BOTTOM_PING,75.3,999.0
$24V_AH,24.0,3.510
$10V_AH,10.0,2.889
$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,29.550,35.225,253.400,84.475,0.000,37.619,37.939,97.124,2.750,16.600,3324.400,13.106,479.198,1401.328,414.940,476.520,361.571,33.345,724.403,0.000,491.706,0.000,10.286
$DEVICE_MAMPS,154.934,82.069,606.697,525.395,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,178.501,0.000,0.000,0.000,0.000,0.000,0.000,3341.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6447,259
$CFSIZE,260034560,255815680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,231137,4738.506,-12252.651,14,1.7,25,18.3