version: 66.02
glider: 118
mission: 6
dive: 107
start: 9 24 107 23 41 17
data:
$ID,118
$MISSION,6
$DIVE,107
$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,-17288.117
$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
$GPS1,233445,4738.545,-12253.232,14,1.8,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-62.9
$GPS2,234059,4738.558,-12253.166,11,2.2,30,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H7
$TGT_LATLONG,4739.000,-12252.750
$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,14.1,970,-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,-122.2,0.0,0.0,0,76,0.00,0.00,-47.12,0.000,2,0.000,0.000,428,2508,2810
$GC,79,-2.07,-122.2,2.3,-5.2,8,130,11.88,2.53,-30.80,0.000,4,0.153,0.058,2544,1110,3729
$GC,144,-2.07,-122.2,4.5,-5.3,18,151,0.00,2.42,0.00,0.000,6,0.000,0.033,2544,2504,3730
$GC,219,-2.07,-122.2,10.1,-8.6,29,225,0.00,2.53,0.00,0.000,4,0.000,0.047,2544,1107,3731
$GC,457,-2.07,-122.2,30.2,-10.0,57,461,0.00,2.45,0.00,0.000,6,0.000,0.033,2544,2505,3733
$GC,653,-2.07,-122.2,48.4,-9.1,72,654,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2505,3734
$GC,843,-2.07,-122.2,65.2,-8.9,87,848,0.00,2.60,0.00,0.000,4,0.000,0.071,2544,3901,3734
$GC,934,-2.07,-122.2,74.5,-10.0,93,942,0.00,2.45,0.00,0.000,6,0.000,0.033,2544,2487,3734
$GC,1131,-2.07,-122.2,92.4,-9.2,109,1135,0.00,2.62,0.00,0.000,4,0.000,0.067,2544,3892,3734
$GC,1177,-2.07,-122.2,97.0,-10.4,112,1181,0.00,2.40,0.00,0.000,6,0.000,0.033,2544,2498,3734
$STATE,1209,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1209,begin apogee
$GC,1215,-0.50,0.0,100.1,9.7,114,1318,1.67,0.00,95.28,0.595,6,0.097,0.000,2888,2414,3228
$STATE,1319,end apogee,CONTROL_FINISHED_OK
$STATE,1319,begin climb
$GC,1322,2.07,122.2,102.7,0.0,123,1427,2.62,2.58,93.07,0.577,4,0.062,0.051,3451,1033,2728
$GC,1471,2.07,122.2,88.7,13.7,135,1479,0.00,2.45,0.00,0.000,6,0.000,0.033,3451,2412,2728
$GC,1669,2.07,122.2,62.1,13.3,151,1670,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2412,2728
$GC,1859,2.07,122.2,36.6,13.4,166,1863,0.00,2.53,0.00,0.000,4,0.000,0.051,3451,1024,2728
$GC,1938,2.07,122.2,25.6,14.1,171,1944,0.00,2.42,0.00,0.000,6,0.000,0.032,3450,2416,2727
$GC,2141,2.14,176.1,2.4,6.7,199,2154,0.00,0.00,10.98,0.559,2,0.000,0.000,3451,2416,2659
$STATE,2154,end climb,SURFACE_DEPTH_REACHED
$STATE,2154,begin surface coast
$FINISH,1.9,1.025641
$STATE,2205,end surface coast,CONTROL_FINISHED_OK
$STATE,2206,begin surface
$SM_CCo,2234,119.50,0.516,0,0,1597,400.08
$SM_GC,0.89,0.00,0.00,119.50,0.000,0.000,0.516,428,2509,1597,-11.83,0.25,400.08
$IRIDIUM_FIX,4722.92,-12251.79,250907,020211
$TT8_MAMPS,0.06903
$HUMID,1818
$INTERNAL_PRESSURE,9.34952
$TCM_TEMP,19.90
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,76.2,999.0
$24V_AH,23.4,6.152
$10V_AH,10.1,5.036
$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,30.075,30.225,199.325,119.500,0.000,39.955,32.250,155.840,2.000,106.040,2726.960,31.569,403.293,1136.142,410.896,403.908,387.935,0.000,655.927,0.000,388.860,0.000,8.675
$DEVICE_MAMPS,153.400,70.564,595.192,516.191,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,144.115,0.000,0.000,0.000,0.000,0.000,0.000,2833.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6462,209
$CFSIZE,260034560,254205952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250907,002155,4738.810,-12252.889,40,1.3,40,18.3