version: 66.02
glider: 118
mission: 6
dive: 33
start: 9 23 107 23 17 58
data:
$ID,118
$MISSION,6
$DIVE,33
$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,-16021.413
$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,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
$GPS1,231137,4738.506,-12252.651,14,1.7,25,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-63.3
$GPS2,231651,4738.526,-12252.567,13,1.2,13,18.3
$SPEED_LIMITS,0.134,0.221
$TGT_NAME,H6
$TGT_LATLONG,4738.532,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.025,-0.132
$KALMAN_X,4006.6,20.0,-203.1,-3452.2,193.9
$KALMAN_Y,3271.2,-164.7,-134.8,-3979.7,72.9
$MHEAD_RNG_PITCHd_Wd,150.8,207,-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,-43.2,0.0,0.0,0,77,0.00,0.00,-48.80,0.000,2,0.000,0.000,426,2510,2823
$GC,80,-2.85,-79.3,2.1,-3.4,8,124,10.93,2.60,-22.98,0.000,4,0.156,0.078,2373,3890,3556
$GC,374,-2.85,-79.3,27.4,-9.0,47,382,0.00,2.40,0.00,0.000,6,0.000,0.030,2372,2496,3558
$GC,571,-2.85,-79.3,46.4,-10.7,63,576,0.00,2.60,0.00,0.000,4,0.000,0.063,2372,3902,3559
$GC,698,-2.85,-79.3,60.4,-11.2,72,702,0.00,2.38,0.00,0.000,6,0.000,0.030,2373,2505,3559
$GC,893,-2.85,-79.3,81.8,-11.1,87,897,0.00,2.47,0.00,0.000,4,0.000,0.048,2373,1109,3560
$GC,992,-2.85,-79.3,93.8,-12.6,94,996,0.00,2.42,0.00,0.000,6,0.000,0.031,2373,2509,3560
$STATE,1046,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1046,begin apogee
$GC,1052,-0.50,0.0,100.8,12.1,98,1121,2.60,0.00,62.25,0.604,6,0.111,0.000,2883,2408,3228
$STATE,1122,end apogee,CONTROL_FINISHED_OK
$STATE,1122,begin climb
$GC,1125,2.85,79.3,103.5,0.0,104,1198,3.38,2.55,60.35,0.590,4,0.056,0.049,3628,1031,2904
$GC,1243,2.85,79.3,91.9,13.7,113,1250,0.00,2.45,0.00,0.000,6,0.000,0.032,3628,2415,2904
$GC,1440,2.85,79.3,63.2,15.3,129,1444,0.00,2.50,0.00,0.000,4,0.000,0.049,3628,1033,2904
$GC,1517,2.85,79.3,50.2,16.5,134,1525,0.00,2.42,0.00,0.000,6,0.000,0.031,3628,2409,2904
$GC,1714,2.85,79.3,21.5,14.4,150,1719,0.00,2.47,0.00,0.000,4,0.000,0.049,3628,1036,2904
$GC,1793,2.85,79.3,10.7,12.6,160,1800,0.00,2.42,0.00,0.000,6,0.000,0.032,3628,2421,2904
$GC,1868,2.88,106.2,4.5,4.5,171,1893,0.00,2.65,19.58,0.562,4,0.000,0.065,3628,3814,2796
$STATE,2035,end climb,NO_VERTICAL_VELOCITY
$STATE,2035,begin surface
$SM_CCo,2044,290.02,0.510,3,0,541,659.61
$SM_GC,0.76,14.40,0.00,0.00,0.039,0.000,0.000,424,2505,538,-11.79,0.14,660.10
$IRIDIUM_FIX,4722.92,-12256.21,240907,020241
$TT8_MAMPS,0.068263
$HUMID,1808
$INTERNAL_PRESSURE,9.30069
$TCM_TEMP,20.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,9.2,8.6
$ALTIM_BOTTOM_PING,76.2,43.1
$24V_AH,24.0,3.594
$10V_AH,10.0,2.948
$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,31.300,34.800,142.175,290.025,0.000,38.169,35.038,122.600,1.750,12.460,2583.540,13.453,386.849,1139.541,538.922,379.955,359.554,33.338,780.266,0.000,385.419,0.000,10.271
$DEVICE_MAMPS,156.468,78.234,604.396,510.055,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,135.679,0.000,0.000,0.000,0.000,0.000,0.000,2596.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6451,197
$CFSIZE,260034560,255795200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,230907,235957,4738.456,-12252.312,12,1.7,12,18.3