version: 66.02
glider: 118
mission: 6
dive: 124
start: 9 25 107 11 51 20
data:
$ID,118
$MISSION,6
$DIVE,124
$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,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,-17276.158
$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,35
$R_STBD_OVSHOOT,31
$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
$GPS1,114415,4738.892,-12253.512,10,1.8,10,18.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-62.8
$GPS2,115102,4738.861,-12253.507,16,1.8,16,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H5
$TGT_LATLONG,4738.532,-12253.202
$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,129.8,718,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-2.07,-122.2,0.0,0.0,0,82,0.00,0.00,-53.00,0.000,2,0.000,0.000,426,2502,2926
$GC,85,-2.07,-122.2,2.2,-5.1,9,130,11.88,2.60,-26.38,0.000,4,0.156,0.058,2545,1094,3729
$GC,380,-2.07,-122.2,28.3,-9.2,47,387,0.00,2.47,0.00,0.000,6,0.000,0.032,2545,2497,3732
$GC,577,-2.07,-122.2,46.2,-9.2,63,582,0.00,2.67,0.00,0.000,4,0.000,0.068,2545,3898,3733
$GC,623,-2.07,-122.2,50.6,-9.8,66,627,0.00,2.40,0.00,0.000,6,0.000,0.032,2545,2485,3733
$GC,818,-2.07,-122.2,69.8,-9.6,81,827,0.00,2.70,0.00,0.000,4,0.000,0.064,2545,3892,3734
$GC,912,-2.07,-122.2,79.4,-10.1,88,917,0.00,2.40,0.00,0.000,6,0.000,0.032,2545,2502,3734
$GC,1114,-2.07,-122.2,99.2,-9.8,104,1119,0.00,2.65,0.00,0.000,4,0.000,0.065,2545,3895,3733
$STATE,1126,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1126,begin apogee
$GC,1134,-0.50,0.0,100.5,9.8,105,1237,1.67,0.00,95.47,0.595,6,0.094,0.000,2885,2411,3227
$STATE,1238,end apogee,CONTROL_FINISHED_OK
$STATE,1238,begin climb
$GC,1240,2.07,122.2,103.6,0.0,114,1342,2.62,2.55,92.68,0.577,4,0.060,0.051,3449,1024,2729
$GC,1416,2.07,122.2,86.4,14.0,128,1420,0.00,2.50,0.00,0.000,6,0.000,0.032,3449,2419,2728
$GC,1611,2.07,122.2,60.3,13.3,143,1612,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2419,2728
$GC,1805,2.07,122.2,36.3,12.6,158,1806,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2419,2728
$GC,1992,2.07,122.2,12.7,12.3,177,1998,0.00,2.53,0.00,0.000,4,0.000,0.050,3449,1027,2727
$GC,2058,2.07,122.2,5.6,11.1,187,2065,0.00,2.42,0.00,0.000,6,0.000,0.032,3449,2422,2728
$GC,2131,2.26,276.8,2.3,1.4,198,2163,0.15,0.00,28.77,0.543,2,0.050,0.000,3493,2422,2520
$STATE,2163,end climb,SURFACE_DEPTH_REACHED
$STATE,2163,begin surface coast
$FINISH,0.1,1.017805
$STATE,2316,end surface coast,CONTROL_FINISHED_OK
$STATE,2318,begin surface
$SM_CCo,2346,111.07,0.518,0,0,1598,400.08
$SM_GC,0.88,0.00,0.00,111.07,0.000,0.000,0.518,429,2504,1598,-11.83,0.08,400.08
$IRIDIUM_FIX,4722.92,-12251.79,250907,151549
$TT8_MAMPS,0.072865
$HUMID,1800
$INTERNAL_PRESSURE,9.35929
$TCM_TEMP,20.00
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,75.3,999.0
$24V_AH,23.8,7.779
$10V_AH,10.1,5.991
$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,30.100,30.625,216.925,111.075,0.000,37.279,35.397,201.231,2.000,111.930,2853.070,16.068,422.522,1199.695,397.318,417.395,440.824,0.000,666.709,0.000,414.986,0.000,8.684
$DEVICE_MAMPS,156.468,69.797,595.192,518.492,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,155.895,0.000,0.000,0.000,0.000,0.000,0.000,2965.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6443,226
$CFSIZE,260034560,253726720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250907,123329,4738.704,-12253.261,8,3.2,27,18.3