version: 66.02
glider: 118
mission: 6
dive: 131
start: 9 25 107 17 7 53
data:
$ID,118
$MISSION,6
$DIVE,131
$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,-17323.158
$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,48
$R_STBD_OVSHOOT,24
$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
$GPS1,165947,4738.938,-12252.697,11,3.0,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-61.9
$GPS2,170737,4738.943,-12252.633,40,1.4,40,18.3
$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,358.3,1011,-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,-52.97,0.000,2,0.000,0.000,429,2479,2915
$GC,86,-1.96,-122.2,2.1,-3.8,9,135,12.18,2.55,-28.73,0.000,4,0.156,0.058,2566,1117,3730
$GC,321,-1.96,-122.2,19.5,-8.0,45,327,0.00,2.42,0.00,0.000,6,0.000,0.033,2566,2505,3732
$GC,397,-1.96,-122.2,25.7,-8.2,52,401,0.00,2.58,0.00,0.000,4,0.000,0.067,2566,3894,3732
$GC,448,-1.96,-122.2,30.3,-8.8,55,455,0.00,2.45,0.00,0.000,6,0.000,0.031,2567,2497,3733
$GC,645,-1.96,-122.2,47.3,-8.6,71,650,0.00,2.67,0.00,0.000,4,0.000,0.064,2566,3892,3734
$GC,730,-1.96,-122.2,55.4,-9.4,77,735,0.00,2.40,0.00,0.000,6,0.000,0.032,2567,2498,3734
$GC,926,-1.96,-122.2,73.5,-9.4,92,930,0.00,2.70,0.00,0.000,4,0.000,0.064,2566,3891,3734
$GC,958,-1.96,-122.2,76.8,-10.3,94,962,0.00,2.40,0.00,0.000,6,0.000,0.033,2566,2496,3734
$GC,1157,-1.96,-122.2,95.1,-9.6,109,1161,0.00,2.62,0.00,0.000,4,0.000,0.065,2566,3900,3734
$GC,1269,-1.96,-122.2,105.9,-9.7,117,1273,0.00,2.40,0.00,0.000,6,0.000,0.033,2566,2502,3734
$STATE,1426,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1426,begin apogee
$GC,1432,-0.50,0.0,120.2,8.5,129,1535,1.58,0.00,96.10,0.609,6,0.094,0.000,2884,2417,3228
$STATE,1536,end apogee,CONTROL_FINISHED_OK
$STATE,1536,begin climb
$GC,1539,1.96,122.2,122.3,0.0,138,1642,2.50,2.55,93.12,0.591,4,0.059,0.051,3423,1028,2729
$GC,1734,1.96,122.2,103.8,12.6,153,1739,0.00,2.42,0.00,0.000,6,0.000,0.033,3423,2413,2728
$GC,1932,1.96,122.2,79.1,12.8,168,1933,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2413,2728
$GC,2121,1.96,122.2,55.4,12.4,183,2125,0.00,2.53,0.00,0.000,4,0.000,0.051,3423,1024,2728
$GC,2172,1.96,122.2,48.6,12.9,186,2179,0.00,2.47,0.00,0.000,6,0.000,0.033,3423,2417,2728
$GC,2371,1.96,122.2,25.2,11.8,202,2372,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2417,2727
$GC,2564,1.96,122.2,3.5,9.0,228,2571,0.00,2.65,0.00,0.000,4,0.000,0.066,3422,3813,2728
$STATE,2588,end climb,SURFACE_DEPTH_REACHED
$STATE,2588,begin surface coast
$FINISH,0.6,1.025796
$STATE,2615,end surface coast,CONTROL_FINISHED_OK
$STATE,2615,begin surface
$SM_CCo,2646,140.00,0.521,1,0,1597,400.08
$SM_GC,1.05,0.00,0.00,140.00,0.000,0.000,0.521,430,2488,1597,-11.82,-0.34,400.08
$IRIDIUM_FIX,4722.92,-12253.53,250907,202029
$TT8_MAMPS,0.068263
$HUMID,1801
$INTERNAL_PRESSURE,9.34952
$TCM_TEMP,19.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,95.1,48.4
$24V_AH,23.4,8.851
$10V_AH,10.1,6.413
$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,29.850,40.225,189.225,140.000,0.000,37.185,35.779,228.174,1.250,382.049,2957.951,40.038,455.736,1433.908,421.904,475.244,484.734,0.000,703.593,0.000,447.866,0.000,7.131
$DEVICE_MAMPS,156.468,69.030,608.998,520.793,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,163.032,0.000,0.000,0.000,0.000,0.000,0.000,3340.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6450,236
$CFSIZE,260034560,253521920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,250907,175521,4739.174,-12252.485,13,1.4,13,18.3