version: 66.02
glider: 118
mission: 6
dive: 321
start: 10 2 107 15 11 22
data:
$ID,118
$MISSION,6
$DIVE,321
$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,-17184.701
$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,40
$R_STBD_OVSHOOT,28
$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
$GPS1,150444,4739.395,-12252.854,9,1.6,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-51.2
$GPS2,151103,4739.455,-12252.786,15,1.6,15,18.3
$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,69.0,480,-17.1,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-1.81,-84.4,0.0,0.0,0,96,0.00,0.00,-66.72,0.000,2,0.000,0.000,424,2475,3164
$GC,100,-1.86,-122.2,2.0,-2.7,11,137,12.15,2.65,-17.20,0.000,4,0.161,0.076,2586,3901,3729
$GC,389,-1.86,-122.2,23.4,-7.3,52,393,0.00,2.45,0.00,0.000,6,0.000,0.032,2586,2489,3731
$GC,591,-1.86,-122.2,39.6,-9.0,68,595,0.00,2.62,0.00,0.000,4,0.000,0.067,2586,3897,3732
$GC,731,-1.86,-122.2,53.0,-9.6,78,736,0.00,2.40,0.00,0.000,6,0.000,0.034,2586,2498,3732
$GC,927,-1.86,-122.2,70.0,-7.9,93,932,0.00,2.62,0.00,0.000,4,0.000,0.068,2586,3912,3732
$GC,1025,-1.86,-122.2,78.0,-8.3,100,1032,0.00,2.45,0.00,0.000,6,0.000,0.034,2586,2492,3732
$STATE,1199,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1199,begin apogee
$GC,1206,-0.50,0.0,90.9,7.5,114,1309,1.48,0.00,95.32,0.597,6,0.097,0.000,2885,2411,3228
$STATE,1310,end apogee,CONTROL_FINISHED_OK
$STATE,1311,begin climb
$GC,1313,1.86,122.2,93.8,0.0,123,1412,2.40,0.00,93.00,0.580,6,0.061,0.000,3404,2411,2729
$GC,1601,1.86,122.2,64.8,12.5,146,1605,0.00,2.50,0.00,0.000,4,0.000,0.052,3404,1026,2727
$GC,1673,1.86,122.2,55.1,13.7,151,1677,0.00,2.42,0.00,0.000,6,0.000,0.034,3404,2419,2728
$GC,1870,1.86,122.2,31.2,11.8,166,1874,0.00,2.53,0.00,0.000,4,0.000,0.052,3404,1022,2728
$GC,1929,1.86,122.2,23.6,12.7,170,1933,0.00,2.42,0.00,0.000,6,0.000,0.034,3404,2417,2727
$GC,2133,1.86,122.2,2.6,7.0,198,2139,0.00,2.58,0.00,0.000,4,0.000,0.067,3404,3811,2728
$STATE,2143,end climb,SURFACE_DEPTH_REACHED
$STATE,2144,begin surface coast
$FINISH,0.1,1.027547
$STATE,2177,end surface coast,CONTROL_FINISHED_OK
$STATE,2177,begin surface
$SM_CCo,2209,129.77,0.518,0,0,1598,400.08
$SM_GC,0.75,0.00,0.00,129.77,0.000,0.000,0.518,429,2485,1598,-11.83,-0.42,400.08
$IRIDIUM_FIX,4719.74,-12254.47,021007,181826
$TT8_MAMPS,0.06903
$HUMID,1792
$INTERNAL_PRESSURE,9.32999
$TCM_TEMP,19.90
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,90.9,46.7
$24V_AH,24.1,25.176
$10V_AH,10.1,19.179
$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,29.300,30.050,188.325,129.775,0.000,37.559,35.930,150.923,3.500,24.910,2749.090,15.042,392.460,1123.212,393.248,401.474,421.006,0.000,646.518,0.000,398.890,0.000,10.485
$DEVICE_MAMPS,161.070,75.933,597.493,517.725,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,141.930,0.000,0.000,0.000,0.000,0.000,0.000,2774.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6447,205
$CFSIZE,260034560,247808000
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,155137,4739.411,-12252.473,12,1.7,29,18.3