version: 66.02
glider: 118
mission: 6
dive: 38
start: 9 24 107 1 45 10
data:
$ID,118
$MISSION,6
$DIVE,38
$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,-16039.674
$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,39
$R_STBD_OVSHOOT,40
$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
$GPS1,013407,4738.739,-12251.780,11,1.5,27,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-63.6
$GPS2,014403,4738.791,-12251.669,14,1.5,14,18.3
$SPEED_LIMITS,0.134,0.221
$TGT_NAME,H6
$TGT_LATLONG,4738.532,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.183,-0.123
$KALMAN_X,4948.9,123.9,42.8,-3628.9,58.0
$KALMAN_Y,3837.5,-93.4,-13.8,-4253.4,43.4
$MHEAD_RNG_PITCHd_Wd,217.9,1031,-16.0,-7.752
$D_GRID,19
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.75,-122.2,0.0,0.0,0,78,0.00,0.00,-49.22,0.000,2,0.000,0.000,426,2516,2884
$GC,82,-1.75,-122.2,2.2,-4.0,8,126,12.38,2.55,-23.90,0.000,4,0.154,0.079,2611,3885,3730
$GC,172,-1.75,-122.2,9.5,-7.4,22,179,0.00,2.35,0.00,0.000,6,0.000,0.030,2611,2484,3731
$GC,246,-1.75,-122.2,14.6,-6.7,33,253,0.00,2.60,0.00,0.000,4,0.000,0.064,2611,3891,3732
$STATE,310,end dive,TARGET_DEPTH_EXCEEDED
$STATE,310,begin apogee
$GC,319,-0.50,0.0,19.4,7.8,43,422,1.35,0.00,94.35,0.512,6,0.096,0.000,2885,2412,3228
$STATE,423,end apogee,CONTROL_FINISHED_OK
$STATE,423,begin climb
$GC,425,1.75,122.2,22.0,0.0,52,531,2.28,2.55,92.00,0.499,4,0.060,0.049,3377,1031,2729
$GC,544,1.75,122.2,14.7,9.3,66,550,0.00,2.40,0.00,0.000,6,0.000,0.031,3377,2405,2729
$GC,616,1.75,122.2,7.7,9.1,77,624,0.00,2.60,0.00,0.000,4,0.000,0.067,3377,3816,2729
$GC,636,1.75,122.2,5.5,9.9,80,644,0.00,2.42,0.00,0.000,6,0.000,0.030,3378,2425,2729
$GC,710,1.92,255.7,2.7,2.1,91,754,0.15,0.00,40.80,0.495,2,0.051,0.000,3420,2425,2403
$STATE,754,end climb,SURFACE_DEPTH_REACHED
$STATE,754,begin surface coast
$FINISH,0.2,1.025556
$STATE,865,end surface coast,CONTROL_FINISHED_OK
$STATE,865,begin surface
$SM_CCo,893,97.43,0.489,0,0,1598,400.08
$SM_GC,0.91,0.00,0.00,97.43,0.000,0.000,0.489,426,2532,1598,-11.83,0.90,400.08
$IRIDIUM_FIX,4719.74,-12250.06,240907,050510
$TT8_MAMPS,0.068263
$HUMID,1730
$INTERNAL_PRESSURE,9.40812
$TCM_TEMP,20.70
$XPDR_PINGS,2
$ALTIM_TOP_PING,7.1,7.0
$ALTIM_BOTTOM_PING,11.4,11.7
$24V_AH,24.1,3.921
$10V_AH,10.0,3.134
$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,29.525,20.225,227.150,97.425,0.000,116.195,136.962,105.018,1.000,8.300,1678.700,14.115,212.628,321.662,388.514,202.072,493.833,33.359,557.685,0.000,204.357,0.000,4.086
$DEVICE_MAMPS,154.167,126.555,511.589,489.346,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,78.348,0.000,0.000,0.000,0.000,0.000,0.000,1687.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3303,115
$CFSIZE,260034560,255684608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,240907,020301,4738.812,-12251.640,37,1.3,37,18.3