version: 66.02
glider: 118
mission: 6
dive: 104
start: 9 24 107 21 28 47
data:
$ID,118
$MISSION,6
$DIVE,104
$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,-17240.9
$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,37
$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,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
$GPS1,212222,4739.092,-12253.279,9,2.2,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-59.7
$GPS2,212829,4739.101,-12253.219,9,2.2,28,18.3
$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,230.4,514,-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,25,-2.07,-122.2,0.0,0.0,0,100,0.00,0.00,-72.62,0.000,2,0.000,0.000,429,2506,3387
$GC,104,-2.07,-122.2,2.0,-1.6,12,129,11.95,0.00,-10.27,0.000,6,0.158,0.000,2545,2506,3729
$GC,196,-2.07,-122.2,9.3,-8.5,26,203,0.00,2.60,0.00,0.000,4,0.000,0.071,2545,3897,3732
$GC,320,-2.07,-122.2,21.4,-8.3,44,328,0.00,2.45,0.00,0.000,6,0.000,0.032,2545,2484,3733
$GC,517,-2.07,-122.2,37.5,-7.9,60,518,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2483,3733
$GC,710,-2.07,-122.2,53.6,-8.8,75,715,0.00,2.65,0.00,0.000,4,0.000,0.067,2545,3892,3734
$GC,809,-2.07,-122.2,63.4,-9.7,82,814,0.00,2.47,0.00,0.000,6,0.000,0.033,2545,2506,3733
$GC,1007,-2.07,-122.2,81.9,-9.2,97,1008,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2501,3733
$STATE,1194,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1194,begin apogee
$GC,1201,-0.50,0.0,100.6,9.9,112,1303,1.67,0.00,95.62,0.597,6,0.095,0.000,2889,2408,3228
$STATE,1304,end apogee,CONTROL_FINISHED_OK
$STATE,1304,begin climb
$GC,1307,2.07,122.2,103.9,0.0,121,1408,2.60,2.53,92.72,0.578,4,0.061,0.051,3450,1032,2729
$GC,1429,2.07,122.2,94.8,11.8,131,1434,0.00,2.45,0.00,0.000,6,0.000,0.034,3450,2422,2729
$GC,1625,2.07,122.2,70.5,13.0,146,1629,0.00,2.55,0.00,0.000,4,0.000,0.051,3450,1035,2728
$GC,1669,2.07,122.2,64.5,12.9,149,1677,0.00,2.45,0.00,0.000,6,0.000,0.033,3450,2413,2728
$GC,1866,2.07,122.2,39.8,12.4,165,1870,0.00,2.53,0.00,0.000,4,0.000,0.051,3450,1026,2728
$GC,2051,2.07,122.2,14.8,12.2,181,2058,0.00,2.42,0.00,0.000,6,0.000,0.033,3450,2422,2728
$GC,2125,2.07,122.2,6.6,11.2,192,2131,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2422,2728
$STATE,2161,end climb,SURFACE_DEPTH_REACHED
$STATE,2161,begin surface coast
$FINISH,0.1,1.007628
$STATE,2182,end surface coast,CONTROL_FINISHED_OK
$STATE,2182,begin surface
$SM_CCo,2211,127.60,0.517,0,0,1597,400.08
$SM_GC,0.80,0.00,0.00,127.60,0.000,0.000,0.517,428,2507,1597,-11.83,0.20,400.08
$IRIDIUM_FIX,4719.74,-12254.47,250907,000044
$TT8_MAMPS,0.070564
$HUMID,1802
$INTERNAL_PRESSURE,9.33976
$TCM_TEMP,19.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.5,9.0
$ALTIM_BOTTOM_PING,76.0,999.0
$24V_AH,24.0,5.864
$10V_AH,10.1,4.863
$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,29.800,25.350,188.350,127.600,0.000,39.360,33.595,151.538,1.750,105.180,2702.820,31.289,389.199,1156.477,395.514,394.708,384.335,0.000,642.470,0.000,380.390,0.000,10.281
$DEVICE_MAMPS,158.002,71.331,597.493,516.958,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,138.871,0.000,0.000,0.000,0.000,0.000,0.000,2808.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6472,201
$CFSIZE,260034560,254296064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,220859,4738.953,-12253.556,9,2.9,28,18.3