version: 66.02
glider: 118
mission: 6
dive: 130
start: 9 25 107 16 11 7
data:
$ID,118
$MISSION,6
$DIVE,130
$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,-17305.068
$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,39
$R_STBD_OVSHOOT,36
$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
$GPS1,160320,4738.652,-12253.104,13,1.5,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-63.0
$GPS2,161051,4738.654,-12253.035,15,1.3,15,18.3
$SPEED_LIMITS,0.154,0.231
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$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,9.4,1700,-18.1,-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,27,-1.96,-122.2,0.0,0.0,0,82,0.00,0.00,-53.03,0.000,2,0.000,0.000,429,2521,2942
$GC,86,-1.96,-122.2,2.0,-3.7,9,135,12.18,2.67,-28.85,0.000,4,0.155,0.057,2568,1106,3729
$GC,301,-1.96,-122.2,17.5,-7.6,42,307,0.00,2.42,0.00,0.000,6,0.000,0.032,2568,2499,3732
$GC,378,-1.96,-122.2,23.3,-7.8,51,379,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2499,3733
$GC,572,-1.96,-122.2,38.4,-8.8,66,576,0.00,2.60,0.00,0.000,4,0.000,0.067,2568,3896,3735
$GC,636,-1.96,-122.2,44.5,-9.0,70,643,0.00,2.42,0.00,0.000,6,0.000,0.031,2567,2492,3736
$GC,833,-1.96,-122.2,60.6,-8.2,86,838,0.00,2.62,0.00,0.000,4,0.000,0.065,2568,3902,3735
$GC,879,-1.96,-122.2,64.8,-9.5,89,883,0.00,2.40,0.00,0.000,6,0.000,0.033,2568,2500,3734
$GC,1077,-1.96,-122.2,82.5,-9.0,104,1081,0.00,2.62,0.00,0.000,4,0.000,0.066,2568,3901,3734
$GC,1116,-1.96,-122.2,86.5,-9.7,106,1122,0.00,2.40,0.00,0.000,6,0.000,0.032,2568,2497,3734
$GC,1311,-1.96,-122.2,104.1,-8.7,122,1316,0.00,2.62,0.00,0.000,4,0.000,0.065,2568,3904,3734
$GC,1445,-1.96,-122.2,116.6,-10.0,131,1451,0.00,2.42,0.00,0.000,6,0.000,0.033,2568,2505,3734
$STATE,1486,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1486,begin apogee
$GC,1493,-0.50,0.0,120.5,8.7,135,1597,1.62,0.00,95.88,0.608,6,0.094,0.000,2890,2411,3228
$STATE,1598,end apogee,CONTROL_FINISHED_OK
$STATE,1598,begin climb
$GC,1601,1.96,122.2,122.6,0.0,144,1704,2.47,2.53,93.12,0.589,4,0.058,0.051,3428,1033,2730
$GC,1810,1.96,122.2,101.6,13.0,160,1814,0.00,2.47,0.00,0.000,6,0.000,0.033,3427,2422,2729
$GC,2005,1.96,122.2,77.0,13.0,175,2010,0.00,2.62,0.00,0.000,4,0.000,0.066,3428,3812,2728
$GC,2051,1.96,122.2,70.7,13.7,178,2055,0.00,2.42,0.00,0.000,6,0.000,0.031,3427,2422,2728
$GC,2246,1.96,122.2,45.9,12.3,193,2251,0.00,2.60,0.00,0.000,4,0.000,0.051,3428,1021,2728
$GC,2364,1.96,122.2,30.8,12.6,201,2372,0.00,2.50,0.00,0.000,6,0.000,0.033,3428,2417,2728
$GC,2565,1.96,122.2,7.2,11.6,225,2572,0.00,2.65,0.00,0.000,4,0.000,0.067,3428,3818,2728
$STATE,2650,end climb,SURFACE_DEPTH_REACHED
$STATE,2650,begin surface coast
$FINISH,1.4,1.026229
$STATE,2682,end surface coast,CONTROL_FINISHED_OK
$STATE,2682,begin surface
$SM_CCo,2713,132.43,0.518,0,0,1598,400.08
$SM_GC,1.02,0.00,0.00,132.43,0.000,0.000,0.518,429,2479,1598,-11.83,-0.59,400.08
$IRIDIUM_FIX,4719.74,-12251.79,250907,191940
$TT8_MAMPS,0.069797
$HUMID,1806
$INTERNAL_PRESSURE,9.35929
$TCM_TEMP,20.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,100.8,51.0
$24V_AH,23.5,8.669
$10V_AH,10.1,6.341
$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,30.100,45.475,189.000,132.425,0.000,39.157,37.644,236.490,1.750,388.840,2972.160,15.346,468.020,1442.702,417.134,478.212,501.259,0.000,711.992,0.000,472.379,0.000,11.701
$DEVICE_MAMPS,154.934,66.729,608.231,518.492,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,167.749,0.000,0.000,0.000,0.000,0.000,0.000,3361.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6461,243
$CFSIZE,260034560,253554688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250907,165947,4738.938,-12252.697,11,3.0,30,18.3