version: 66.02
glider: 118
mission: 6
dive: 240
start: 9 29 107 15 28 8
data:
$ID,118
$MISSION,6
$DIVE,240
$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,-17158.271
$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,41
$R_STBD_OVSHOOT,34
$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
$GPS1,152137,4739.345,-12252.562,14,1.4,24,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-60.2
$GPS2,152750,4739.366,-12252.530,14,1.4,14,18.3
$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,22.5,246,-27.3,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-2.78,-34.4,0.0,0.0,0,83,0.00,0.00,-54.78,0.000,2,0.000,0.000,426,2515,2982
$GC,87,-2.80,-56.7,2.4,-3.8,9,120,11.02,2.55,-13.70,0.000,4,0.161,0.077,2384,3892,3462
$GC,370,-2.80,-56.7,29.2,-8.9,44,377,0.00,2.40,0.00,0.000,6,0.000,0.030,2383,2492,3466
$GC,567,-2.80,-56.7,47.3,-9.3,60,571,0.00,2.58,0.00,0.000,4,0.000,0.062,2383,3891,3466
$GC,827,-2.80,-56.7,72.8,-9.4,79,831,0.00,2.38,0.00,0.000,6,0.000,0.031,2383,2491,3466
$STATE,1025,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1025,begin apogee
$GC,1031,-0.50,0.0,91.2,9.7,94,1080,2.53,0.00,43.40,0.597,6,0.113,0.000,2886,2402,3229
$STATE,1080,end apogee,CONTROL_FINISHED_OK
$STATE,1081,begin climb
$GC,1083,2.80,56.7,93.0,0.0,98,1136,3.33,2.53,42.42,0.586,4,0.058,0.050,3619,1033,2997
$GC,1295,2.80,56.7,72.3,11.5,114,1303,0.00,2.40,0.00,0.000,6,0.000,0.032,3619,2402,2997
$GC,1492,2.80,56.7,50.4,11.4,130,1493,0.00,0.00,0.00,0.000,6,0.000,0.000,3619,2402,2997
$GC,1683,2.80,56.7,27.0,12.5,145,1687,0.00,2.47,0.00,0.000,4,0.000,0.051,3619,1022,2997
$GC,1941,2.88,118.5,5.1,-1.3,179,1995,0.00,2.40,44.97,0.543,6,0.000,0.032,3619,2420,2746
$GC,2061,2.93,157.3,3.8,1.6,198,2092,0.00,0.00,28.10,0.541,6,0.000,0.000,3619,2420,2587
$STATE,2151,end climb,SURFACE_DEPTH_REACHED
$STATE,2151,begin surface coast
$FINISH,0.2,1.026301
$STATE,2230,end surface coast,CONTROL_FINISHED_OK
$STATE,2230,begin surface
$SM_CCo,2260,121.28,0.515,0,0,1597,400.08
$SM_GC,0.70,0.00,0.00,121.28,0.000,0.000,0.515,428,2504,1597,-11.83,0.11,400.08
$IRIDIUM_FIX,4719.74,-12251.79,290907,181838
$TT8_MAMPS,0.072865
$HUMID,1799
$INTERNAL_PRESSURE,9.36906
$TCM_TEMP,20.00
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,91.2,47.0
$24V_AH,24.2,18.829
$10V_AH,10.1,13.639
$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,31.150,19.925,158.900,121.275,0.000,37.350,35.218,159.363,3.750,4.150,2817.850,14.093,419.470,1159.416,346.697,434.525,408.033,0.000,603.264,0.000,434.044,0.000,10.146
$DEVICE_MAMPS,161.070,77.467,597.493,514.657,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,154.263,0.000,0.000,0.000,0.000,0.000,0.000,2822.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6465,224
$CFSIZE,260034560,250224640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,160908,4739.439,-12252.290,33,1.5,34,18.3