version: 66.02
glider: 118
mission: 6
dive: 200
start: 9 28 107 4 54 32
data:
$ID,118
$MISSION,6
$DIVE,200
$D_SURF,2
$D_FLARE,2
$D_TGT,90
$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,45
$T_MISSION,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$USE_BATHY,0
$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,2
$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,-17190.217
$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,30
$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,0
$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
$GPS1,044757,4739.521,-12252.624,37,2.7,56,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-62.0
$GPS2,045414,4739.507,-12252.646,13,1.2,18,18.3
$SPEED_LIMITS,0.115,0.209
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,85.5,315,-27.1,-6.667
$D_GRID,90
$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,-2.75,-35.0,0.0,0.0,0,82,0.00,0.00,-54.78,0.000,2,0.000,0.000,426,2511,2946
$GC,86,-2.79,-60.3,2.2,-3.5,9,124,10.98,2.62,-17.33,0.000,4,0.159,0.078,2389,3904,3477
$GC,137,-2.80,-73.6,5.1,-5.0,17,144,0.00,2.40,-1.38,0.000,6,0.000,0.031,2389,2480,3531
$GC,210,-2.80,-73.6,12.1,-9.0,28,217,0.00,2.40,0.00,0.000,4,0.000,0.047,2390,1114,3532
$GC,467,-2.80,-73.6,31.8,-6.9,54,474,0.00,2.40,0.00,0.000,6,0.000,0.031,2389,2493,3534
$GC,664,-2.80,-73.6,47.4,-7.9,70,668,0.00,2.58,0.00,0.000,4,0.000,0.066,2389,3896,3535
$GC,791,-2.80,-73.6,58.3,-9.3,79,795,0.00,2.35,0.00,0.000,6,0.000,0.030,2389,2503,3535
$GC,986,-2.80,-73.6,75.8,-9.1,94,987,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2497,3535
$STATE,1155,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1155,begin apogee
$GC,1161,-0.50,0.0,90.5,9.1,107,1228,2.47,0.00,57.60,0.594,6,0.110,0.000,2885,2412,3228
$STATE,1229,end apogee,CONTROL_FINISHED_OK
$STATE,1229,begin climb
$GC,1231,2.80,73.6,92.6,0.0,113,1297,3.33,2.55,55.88,0.581,4,0.057,0.049,3614,1031,2927
$GC,1455,2.80,73.6,62.5,15.9,130,1462,0.00,2.42,0.00,0.000,6,0.000,0.032,3614,2413,2925
$GC,1652,2.80,73.6,31.7,15.3,146,1656,0.00,2.47,0.00,0.000,4,0.000,0.049,3614,1036,2925
$GC,1692,2.80,73.6,25.6,15.4,148,1698,0.00,2.40,0.00,0.000,6,0.000,0.032,3613,2425,2925
$GC,1898,2.85,114.8,3.6,1.4,176,1934,0.00,2.55,30.08,0.544,4,0.000,0.048,3614,1026,2759
$STATE,1985,end climb,SURFACE_DEPTH_REACHED
$STATE,1985,begin surface coast
$FINISH,1.5,1.025863
$STATE,2006,end surface coast,CONTROL_FINISHED_OK
$STATE,2006,begin surface
$SM_CCo,2038,133.27,0.513,0,0,1597,400.08
$SM_GC,0.83,0.00,0.00,133.27,0.000,0.000,0.513,429,2508,1597,-11.83,0.23,400.08
$IRIDIUM_FIX,4722.92,-12207.44,280907,070730
$TT8_MAMPS,0.067496
$HUMID,1796
$INTERNAL_PRESSURE,9.35929
$TCM_TEMP,19.90
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,90.5,41.0
$24V_AH,24.2,15.869
$10V_AH,10.1,10.980
$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,31.525,29.875,143.550,133.275,0.000,40.562,43.878,152.830,3.000,16.600,2635.400,18.951,377.867,1029.437,366.517,387.902,399.526,0.000,606.042,0.000,381.698,0.000,12.063
$DEVICE_MAMPS,158.769,78.234,594.425,513.123,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,132.961,0.000,0.000,0.000,0.000,0.000,0.000,2652.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6445,193
$CFSIZE,260034560,251416576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,053138,4739.488,-12252.366,9,1.3,9,18.3