version: 66.02
glider: 118
mission: 6
dive: 34
start: 9 24 107 0 6 28
data:
$ID,118
$MISSION,6
$DIVE,34
$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,-16018.091
$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,27
$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
$GPS1,235957,4738.456,-12252.312,12,1.7,12,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-56.4
$GPS2,000520,4738.477,-12252.208,15,1.7,15,18.3
$SPEED_LIMITS,0.134,0.221
$TGT_NAME,H6
$TGT_LATLONG,4738.532,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.217,0.042
$KALMAN_X,4305.8,16.7,-129.8,-3377.1,66.5
$KALMAN_Y,3493.3,-170.0,-115.0,-4311.0,28.7
$MHEAD_RNG_PITCHd_Wd,262.7,262,-16.0,-7.752
$D_GRID,42
$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,-122.2,0.0,0.0,0,119,0.00,0.00,-90.65,0.000,2,0.000,0.000,425,2502,2823
$GC,123,-1.75,-122.2,2.0,-3.4,15,167,12.25,0.00,-28.15,0.000,6,0.157,0.000,2609,2502,3730
$GC,233,-1.75,-122.2,9.4,-7.5,32,239,0.00,2.50,0.00,0.000,4,0.000,0.048,2609,1105,3732
$GC,320,-1.75,-122.2,15.0,-6.5,45,326,0.00,2.50,0.00,0.000,6,0.000,0.031,2609,2508,3733
$GC,394,-1.75,-122.2,20.0,-6.7,56,398,0.00,2.58,0.00,0.000,4,0.000,0.068,2609,3900,3734
$GC,498,-1.75,-122.2,28.3,-7.8,63,506,0.00,2.42,0.00,0.000,6,0.000,0.030,2609,2485,3736
$STATE,682,end dive,TARGET_DEPTH_EXCEEDED
$STATE,682,begin apogee
$GC,688,-0.50,0.0,42.6,7.7,78,784,1.35,0.00,91.68,0.540,6,0.092,0.000,2885,2416,3229
$STATE,785,end apogee,CONTROL_FINISHED_OK
$STATE,785,begin climb
$GC,787,1.75,122.2,44.9,0.0,86,888,2.30,2.55,92.75,0.530,4,0.062,0.051,3381,1026,2730
$GC,994,1.75,122.2,27.6,10.5,102,1001,0.00,2.45,0.00,0.000,6,0.000,0.032,3381,2411,2734
$GC,1196,1.75,122.2,7.8,10.4,127,1202,0.00,0.00,0.00,0.000,6,0.000,0.000,3381,2411,2736
$GC,1269,1.94,271.4,4.7,1.4,138,1369,0.15,0.00,95.28,0.515,2,0.051,0.000,3426,2411,2176
$STATE,1370,end climb,SURFACE_DEPTH_REACHED
$STATE,1370,begin surface coast
$FINISH,0.1,1.025357
$STATE,1414,end surface coast,CONTROL_FINISHED_OK
$STATE,1415,begin surface
$SM_CCo,1443,69.62,0.504,0,0,1598,400.08
$SM_GC,1.00,0.00,0.00,69.62,0.000,0.000,0.504,429,2506,1598,-11.83,0.17,400.08
$IRIDIUM_FIX,4722.92,-12251.79,240907,030342
$TT8_MAMPS,0.068263
$HUMID,1762
$INTERNAL_PRESSURE,9.37882
$TCM_TEMP,20.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,9.8,9.5
$ALTIM_BOTTOM_PING,25.7,26.2
$24V_AH,24.0,3.662
$10V_AH,10.0,2.998
$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,29.500,15.225,279.700,69.625,0.000,41.344,36.835,124.248,1.250,4.150,2282.850,15.462,276.450,514.169,422.962,303.013,349.444,33.355,648.284,0.000,303.276,0.000,4.097
$DEVICE_MAMPS,157.235,82.069,539.968,503.919,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,110.305,0.000,0.000,0.000,0.000,0.000,0.000,2287.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3301,161
$CFSIZE,260034560,255778816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,003258,4738.566,-12252.188,14,2.2,33,18.3