version: 66.02
glider: 118
mission: 6
dive: 102
start: 9 24 107 20 3 50
data:
$ID,118
$MISSION,6
$DIVE,102
$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,35
$T_MISSION,70
$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,-17226.6
$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,45
$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
$GPS1,195659,4739.168,-12253.187,13,2.6,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-58.2
$GPS2,200332,4739.151,-12253.140,43,1.5,43,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H4
$TGT_LATLONG,4739.000,-12253.603
$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,225.9,642,-19.2,-9.524
$D_GRID,100
$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,27,-2.07,-122.2,0.0,0.0,0,95,0.00,0.00,-65.65,0.000,2,0.000,0.000,421,2509,3180
$GC,98,-2.07,-122.2,2.2,-4.7,11,135,11.93,2.62,-17.08,0.000,4,0.156,0.084,2543,3901,3730
$GC,221,-2.07,-122.2,12.4,-10.1,30,227,0.00,2.42,0.00,0.000,6,0.000,0.033,2542,2497,3731
$GC,293,-2.07,-122.2,19.8,-10.4,41,299,0.00,2.62,0.00,0.000,4,0.000,0.068,2542,3895,3732
$GC,324,-2.07,-122.2,23.1,-10.3,44,331,0.00,2.42,0.00,0.000,6,0.000,0.033,2542,2499,3732
$GC,521,-2.07,-122.2,40.9,-8.6,60,522,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2495,3733
$GC,713,-2.07,-122.2,57.8,-9.5,75,717,0.00,2.65,0.00,0.000,4,0.000,0.068,2543,3904,3733
$GC,772,-2.07,-122.2,63.1,-8.4,79,776,0.00,2.42,0.00,0.000,6,0.000,0.034,2542,2493,3732
$GC,968,-2.07,-122.2,81.2,-9.1,94,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2488,3733
$GC,1158,-2.07,-122.2,99.0,-9.5,109,1162,0.00,2.65,0.00,0.000,4,0.000,0.069,2542,3890,3733
$STATE,1171,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1171,begin apogee
$GC,1179,-0.50,0.0,100.3,9.3,110,1282,1.70,0.00,94.90,0.603,6,0.099,0.000,2882,2418,3228
$STATE,1283,end apogee,CONTROL_FINISHED_OK
$STATE,1283,begin climb
$GC,1285,2.07,122.2,103.7,0.0,119,1386,2.62,2.58,92.40,0.583,4,0.062,0.052,3446,1017,2729
$GC,1447,2.07,122.2,89.5,13.5,132,1452,0.00,2.50,0.00,0.000,6,0.000,0.035,3446,2416,2728
$GC,1649,2.07,122.2,62.5,13.4,148,1653,0.00,2.55,0.00,0.000,4,0.000,0.051,3446,1025,2728
$GC,1735,2.07,122.2,50.4,14.6,154,1739,0.00,2.45,0.00,0.000,6,0.000,0.034,3446,2425,2728
$GC,1930,2.07,122.2,23.7,13.6,169,1934,0.00,2.55,0.00,0.000,4,0.000,0.051,3446,1022,2728
$GC,2003,2.07,122.2,14.4,12.6,177,2009,0.00,2.45,0.00,0.000,6,0.000,0.033,3446,2423,2728
$GC,2076,2.07,122.2,6.3,10.8,188,2083,0.00,2.53,0.00,0.000,4,0.000,0.051,3446,1024,2728
$GC,2102,2.07,122.2,3.4,10.9,192,2109,0.00,2.42,0.00,0.000,6,0.000,0.034,3446,2415,2728
$STATE,2113,end climb,SURFACE_DEPTH_REACHED
$STATE,2113,begin surface coast
$FINISH,0.3,1.025789
$STATE,2127,end surface coast,CONTROL_FINISHED_OK
$STATE,2127,begin surface
$SM_CCo,2156,131.00,0.520,0,0,1597,400.08
$SM_GC,0.90,0.00,0.00,131.00,0.000,0.000,0.520,424,2511,1597,-11.85,0.34,400.08
$IRIDIUM_FIX,4722.92,-12251.79,240907,232307
$TT8_MAMPS,0.067496
$HUMID,1802
$INTERNAL_PRESSURE,9.33976
$TCM_TEMP,20.00
$XPDR_PINGS,5
$ALTIM_TOP_PING,9.8,9.2
$ALTIM_BOTTOM_PING,75.5,999.0
$24V_AH,24.0,5.672
$10V_AH,10.1,4.750
$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,29.800,40.675,187.300,131.000,0.000,37.938,31.525,165.892,3.000,100.130,2668.870,43.509,380.888,1106.027,409.232,399.808,398.012,0.000,658.944,0.000,368.525,0.000,13.162
$DEVICE_MAMPS,155.701,83.603,602.862,520.026,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,135.526,0.000,0.000,0.000,0.000,0.000,0.000,2769.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6455,196
$CFSIZE,260034560,254345216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,204251,4738.977,-12253.506,10,1.8,10,18.3