version: 66.02
glider: 118
mission: 6
dive: 133
start: 9 25 107 19 2 37
data:
$ID,118
$MISSION,6
$DIVE,133
$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,-17302.482
$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,27
$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
$GPS1,185414,4739.314,-12252.445,9,1.7,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-61.8
$GPS2,190221,4739.256,-12252.498,11,1.9,11,18.3
$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,358.8,409,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-2.84,-53.0,0.0,0.0,0,101,0.00,0.00,-72.75,0.000,2,0.000,0.000,427,2507,3417
$GC,105,-2.92,-122.2,2.2,-1.0,12,129,10.90,0.00,-8.68,0.000,6,0.162,0.000,2359,2507,3729
$GC,197,-2.92,-122.2,14.5,-12.2,26,203,0.00,2.58,0.00,0.000,4,0.000,0.067,2358,3904,3731
$GC,217,-2.92,-122.2,17.0,-11.9,29,223,0.00,2.40,0.00,0.000,6,0.000,0.031,2359,2476,3732
$GC,293,-2.92,-122.2,27.2,-13.1,37,297,0.00,2.62,0.00,0.000,4,0.000,0.063,2359,3901,3732
$GC,365,-2.92,-122.2,37.6,-15.0,42,370,0.00,2.38,0.00,0.000,6,0.000,0.031,2359,2509,3733
$GC,567,-2.92,-122.2,66.4,-14.5,58,571,0.00,2.58,0.00,0.000,4,0.000,0.063,2359,3904,3734
$GC,697,-2.92,-122.2,87.4,-16.0,67,705,0.00,2.40,0.00,0.000,6,0.000,0.031,2359,2497,3734
$GC,895,-2.92,-122.2,116.4,-14.9,83,899,0.00,2.45,0.00,0.000,4,0.000,0.047,2359,1113,3734
$STATE,917,end dive,TARGET_DEPTH_EXCEEDED
$STATE,917,begin apogee
$GC,925,-0.50,0.0,120.6,16.2,84,1028,2.65,0.00,95.53,0.607,6,0.111,0.000,2887,2423,3229
$STATE,1028,end apogee,CONTROL_FINISHED_OK
$STATE,1029,begin climb
$GC,1031,2.92,122.2,123.7,0.0,93,1136,3.45,0.00,93.43,0.589,6,0.056,0.000,3643,2423,2729
$GC,1325,2.92,122.2,77.7,19.1,117,1329,0.00,2.50,0.00,0.000,4,0.000,0.050,3643,1036,2729
$GC,1495,2.92,122.2,43.5,19.9,129,1502,0.00,2.42,0.00,0.000,6,0.000,0.032,3643,2419,2728
$GC,1695,2.92,122.2,7.2,18.2,150,1701,0.00,2.55,0.00,0.000,4,0.000,0.065,3643,3813,2729
$STATE,1731,end climb,SURFACE_DEPTH_REACHED
$STATE,1732,begin surface coast
$FINISH,0.2,1.025061
$STATE,1746,end surface coast,CONTROL_FINISHED_OK
$STATE,1746,begin surface
$SM_CCo,1777,131.18,0.513,0,0,1598,400.08
$SM_GC,1.03,0.00,0.00,131.18,0.000,0.000,0.513,426,2496,1598,-11.84,-0.11,400.08
$IRIDIUM_FIX,4722.92,-12253.53,250907,212137
$TT8_MAMPS,0.067496
$HUMID,1796
$INTERNAL_PRESSURE,9.34952
$TCM_TEMP,19.90
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,90.3,50.5
$24V_AH,24.1,9.116
$10V_AH,10.1,6.542
$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,31.425,29.450,188.950,131.175,0.000,38.345,32.335,282.295,1.500,0.000,2472.000,11.538,310.728,860.232,420.319,312.387,501.453,0.000,627.456,0.000,313.246,0.000,8.565
$DEVICE_MAMPS,161.837,67.496,607.464,513.123,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,109.030,0.000,0.000,0.000,0.000,0.000,0.000,2472.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3323,158
$CFSIZE,260034560,253468672
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250907,193537,4739.365,-12252.457,12,1.0,28,18.3