version: 66.02
glider: 118
mission: 6
dive: 129
start: 9 25 107 15 21 50
data:
$ID,118
$MISSION,6
$DIVE,129
$D_SURF,2
$D_FLARE,2
$D_TGT,120
$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,45
$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,-17310.271
$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,48
$R_STBD_OVSHOOT,33
$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
$GPS1,151003,4738.650,-12253.133,10,1.5,10,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-62.6
$GPS2,152133,4738.660,-12253.013,16,1.4,16,18.3
$SPEED_LIMITS,0.154,0.231
$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,206.7,334,-27.7,-8.889
$D_GRID,120
$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,-2.84,-53.0,0.0,0.0,0,76,0.00,0.00,-48.85,0.000,2,0.000,0.000,423,2512,2836
$GC,80,-2.89,-96.8,2.1,-4.0,8,128,11.07,0.00,-30.45,0.000,6,0.157,0.000,2367,2512,3625
$GC,194,-2.89,-96.8,10.5,-10.4,26,200,0.00,2.58,0.00,0.000,4,0.000,0.067,2367,3894,3626
$GC,450,-2.89,-96.8,39.5,-12.0,52,457,0.00,2.45,0.00,0.000,6,0.000,0.030,2367,2507,3628
$GC,646,-2.89,-96.8,62.6,-11.6,68,651,0.00,2.67,0.00,0.000,4,0.000,0.064,2367,3888,3629
$GC,902,-2.89,-96.8,96.5,-13.4,87,910,0.00,2.42,0.00,0.000,6,0.000,0.031,2367,2495,3628
$STATE,1097,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1097,begin apogee
$GC,1103,-0.50,0.0,120.1,12.1,103,1184,2.67,0.00,76.22,0.606,6,0.116,0.000,2884,2411,3230
$STATE,1185,end apogee,CONTROL_FINISHED_OK
$STATE,1185,begin climb
$GC,1188,2.89,96.8,122.4,0.0,110,1273,3.42,0.00,74.32,0.589,6,0.058,0.000,3635,2409,2834
$GC,1462,2.89,96.8,81.4,17.0,132,1466,0.00,2.50,0.00,0.000,4,0.000,0.051,3635,1027,2832
$GC,1574,2.89,96.8,61.5,18.1,140,1578,0.00,2.45,0.00,0.000,6,0.000,0.033,3634,2420,2832
$GC,1769,2.89,96.8,28.2,17.2,155,1774,0.00,2.60,0.00,0.000,4,0.000,0.051,3635,1022,2832
$GC,1848,2.89,96.8,15.1,15.6,162,1855,0.00,2.53,0.00,0.000,6,0.000,0.033,3635,2418,2832
$GC,1920,2.89,96.8,6.2,11.4,173,1927,0.00,2.60,0.00,0.000,4,0.000,0.067,3635,3822,2832
$GC,2178,2.98,171.2,4.2,0.5,212,2239,0.00,2.42,52.83,0.535,6,0.000,0.030,3634,2417,2530
$STATE,2251,end climb,SURFACE_DEPTH_REACHED
$STATE,2252,begin surface coast
$FINISH,0.2,1.024537
$STATE,2277,end surface coast,CONTROL_FINISHED_OK
$STATE,2277,begin surface
$SM_CCo,2307,108.57,0.512,0,0,1597,400.08
$SM_GC,0.93,0.00,0.00,108.57,0.000,0.000,0.512,429,2520,1597,-11.83,0.59,400.08
$IRIDIUM_FIX,4719.74,-12251.79,250907,191907
$TT8_MAMPS,0.068263
$HUMID,1800
$INTERNAL_PRESSURE,9.38859
$TCM_TEMP,20.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,110.9,44.9
$24V_AH,23.4,8.487
$10V_AH,10.1,6.270
$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,32.025,25.500,203.375,108.575,0.000,72.644,73.152,341.416,2.000,329.917,2883.083,18.175,419.179,1199.119,392.227,447.135,661.413,0.000,664.003,0.000,442.692,0.000,13.219
$DEVICE_MAMPS,157.235,68.263,605.930,512.356,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,156.902,0.000,0.000,0.000,0.000,0.000,0.000,3213.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6457,228
$CFSIZE,260034560,253591552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,250907,160320,4738.652,-12253.104,13,1.5,30,18.3