version: 66.02
glider: 118
mission: 6
dive: 136
start: 9 25 107 21 18 23
data:
$ID,118
$MISSION,6
$DIVE,136
$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,-17310.629
$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,37
$R_STBD_OVSHOOT,35
$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
$GPS1,210803,4739.411,-12252.895,13,2.0,13,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-63.7
$GPS2,211807,4739.383,-12252.932,13,1.4,29,18.3
$SPEED_LIMITS,0.154,0.231
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-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,276.4,372,-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,-53.0,0.0,0.0,0,77,0.00,0.00,-48.85,0.000,2,0.000,0.000,429,2512,2832
$GC,80,-2.88,-87.6,2.2,-5.0,8,130,10.98,2.60,-28.73,0.000,4,0.157,0.074,2370,3892,3589
$GC,381,-2.88,-87.6,28.9,-10.1,48,386,0.00,2.42,0.00,0.000,6,0.000,0.031,2370,2478,3592
$GC,577,-2.88,-87.6,49.3,-10.3,63,581,0.00,2.62,0.00,0.000,4,0.000,0.061,2370,3890,3594
$GC,717,-2.88,-87.6,66.9,-13.0,73,721,0.00,2.38,0.00,0.000,6,0.000,0.031,2370,2499,3594
$GC,913,-2.88,-87.6,90.8,-11.9,88,917,0.00,2.58,0.00,0.000,4,0.000,0.061,2370,3890,3595
$GC,1032,-2.88,-87.6,105.1,-11.8,96,1039,0.00,2.38,0.00,0.000,6,0.000,0.032,2370,2493,3594
$STATE,1175,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1176,begin apogee
$GC,1183,-0.50,0.0,121.3,11.2,108,1262,2.65,0.00,69.28,0.610,6,0.112,0.000,2884,2411,3228
$STATE,1263,end apogee,CONTROL_FINISHED_OK
$STATE,1263,begin climb
$GC,1266,2.88,87.6,123.1,0.0,115,1343,3.42,2.65,66.72,0.596,4,0.059,0.058,3636,3810,2871
$GC,1390,2.88,87.6,107.8,16.5,125,1395,0.00,2.40,0.00,0.000,6,0.000,0.031,3636,2425,2870
$GC,1586,2.88,87.6,74.7,16.9,140,1591,0.00,2.55,0.00,0.000,4,0.000,0.051,3636,1018,2869
$GC,1685,2.88,87.6,58.2,16.3,147,1690,0.00,2.45,0.00,0.000,6,0.000,0.032,3636,2413,2869
$GC,1886,2.88,87.6,26.1,16.4,163,1891,0.00,2.55,0.00,0.000,4,0.000,0.051,3636,1016,2869
$STATE,2043,end climb,SURFACE_DEPTH_REACHED
$STATE,2043,begin surface coast
$FINISH,0.8,1.025700
$STATE,2059,end surface coast,CONTROL_FINISHED_OK
$STATE,2059,begin surface
$SM_CCo,2092,148.85,0.517,1,0,1597,400.08
$SM_GC,1.04,0.00,0.00,148.85,0.000,0.000,0.517,424,2507,1597,-11.85,0.20,400.08
$IRIDIUM_FIX,4719.74,-12251.79,260907,000057
$TT8_MAMPS,0.067496
$HUMID,1775
$INTERNAL_PRESSURE,9.34952
$TCM_TEMP,20.00
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,95.6,43.1
$24V_AH,23.5,9.582
$10V_AH,10.1,6.724
$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,32.000,30.325,136.000,148.850,0.000,77.548,127.613,185.493,1.750,299.620,2602.380,29.738,369.278,1165.955,374.361,394.932,556.100,0.000,611.522,0.000,380.991,0.000,7.125
$DEVICE_MAMPS,157.235,74.399,609.765,516.958,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,127.675,0.000,0.000,0.000,0.000,0.000,0.000,2902.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6432,185
$CFSIZE,260034560,253366272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,250907,215645,4739.417,-12253.185,12,1.4,12,18.3