version: 66.02
glider: 118
mission: 6
dive: 109
start: 9 25 107 1 11 33
data:
$ID,118
$MISSION,6
$DIVE,109
$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,-17281.893
$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,49
$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
$GPS1,010102,4739.053,-12252.675,9,1.6,9,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-62.6
$GPS2,011115,4739.108,-12252.572,13,1.2,13,18.3
$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,209.7,298,-27.8,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-2.85,-58.7,0.0,0.0,0,84,0.00,0.00,-54.85,0.000,2,0.000,0.000,429,2511,2975
$GC,87,-2.90,-98.2,2.3,-5.2,9,126,11.12,2.65,-21.50,0.000,4,0.160,0.078,2362,3902,3631
$GC,377,-2.90,-98.2,31.8,-11.5,46,381,0.00,2.40,0.00,0.000,6,0.000,0.031,2362,2494,3635
$GC,573,-2.90,-98.2,52.8,-10.9,61,577,0.00,2.62,0.00,0.000,4,0.000,0.064,2362,3893,3636
$GC,690,-2.90,-98.2,67.3,-12.7,69,697,0.00,2.50,0.00,0.000,6,0.000,0.031,2362,2497,3636
$GC,887,-2.90,-98.2,90.8,-12.5,85,892,0.00,2.60,0.00,0.000,4,0.000,0.064,2362,3901,3636
$GC,952,-2.90,-98.2,99.8,-13.8,89,963,0.00,2.42,0.00,0.000,6,0.000,0.031,2362,2497,3637
$STATE,969,end dive,TARGET_DEPTH_EXCEEDED
$STATE,969,begin apogee
$GC,976,-0.50,0.0,102.2,13.3,91,1057,2.67,0.00,76.80,0.594,6,0.113,0.000,2884,2417,3229
$STATE,1058,end apogee,CONTROL_FINISHED_OK
$STATE,1059,begin climb
$GC,1061,2.90,98.2,104.9,0.0,98,1145,3.42,2.55,74.65,0.579,4,0.058,0.051,3633,1026,2828
$GC,1185,2.90,98.2,89.7,18.5,108,1192,0.00,2.45,0.00,0.000,6,0.000,0.032,3633,2408,2826
$GC,1382,2.90,98.2,54.6,17.3,124,1386,0.00,2.50,0.00,0.000,4,0.000,0.050,3633,1030,2825
$GC,1446,2.90,98.2,42.4,18.2,128,1453,0.00,2.45,0.00,0.000,6,0.000,0.032,3633,2414,2825
$GC,1646,2.90,98.2,8.0,16.3,149,1652,0.00,2.53,0.00,0.000,4,0.000,0.049,3633,1028,2825
$GC,1659,2.90,98.2,5.9,15.8,151,1665,0.00,2.42,0.00,0.000,6,0.000,0.033,3633,2414,2825
$STATE,1682,end climb,SURFACE_DEPTH_REACHED
$STATE,1682,begin surface coast
$FINISH,0.2,1.024639
$STATE,1697,end surface coast,CONTROL_FINISHED_OK
$STATE,1697,begin surface
$SM_CCo,1727,148.32,0.512,0,0,1597,400.08
$SM_GC,1.02,0.00,0.00,148.32,0.000,0.000,0.512,427,2506,1597,-11.84,0.17,400.08
$IRIDIUM_FIX,4722.92,-12253.53,250907,050506
$TT8_MAMPS,0.069797
$HUMID,1766
$INTERNAL_PRESSURE,9.34952
$TCM_TEMP,17.80
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,100.5,45.9
$24V_AH,23.5,6.334
$10V_AH,10.1,5.144
$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,32.075,30.350,151.450,148.325,0.000,81.904,153.174,187.448,2.250,81.600,2480.400,13.244,318.053,905.612,394.811,314.919,569.501,0.000,603.996,0.000,314.848,0.000,11.698
$DEVICE_MAMPS,160.303,78.234,594.425,512.356,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,108.203,0.000,0.000,0.000,0.000,0.000,0.000,2562.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3314,157
$CFSIZE,260034560,254160896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250907,014402,4739.105,-12252.677,30,1.5,30,18.3