version: 66.02
glider: 118
mission: 6
dive: 138
start: 9 25 107 22 58 18
data:
$ID,118
$MISSION,6
$DIVE,138
$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,-17315.797
$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,45
$R_STBD_OVSHOOT,30
$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
$GPS1,225137,4739.256,-12252.815,33,0.8,38,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-63.8
$GPS2,225802,4739.227,-12252.840,10,1.4,15,18.3
$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,32.5,705,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.96,-122.2,0.0,0.0,0,78,0.00,0.00,-48.85,0.000,2,0.000,0.000,424,2511,2833
$GC,82,-1.96,-122.2,2.2,-5.0,8,137,12.18,2.70,-33.92,0.000,4,0.156,0.078,2568,3895,3729
$GC,203,-1.96,-122.2,9.7,-10.0,27,210,0.00,2.40,0.00,0.000,6,0.000,0.032,2568,2492,3731
$GC,276,-1.96,-122.2,15.9,-7.1,38,282,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2489,3731
$GC,354,-1.96,-122.2,21.4,-7.2,49,355,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2490,3733
$GC,545,-1.96,-122.2,37.5,-8.6,64,546,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2489,3733
$GC,735,-1.96,-122.2,53.9,-8.7,79,739,0.00,2.65,0.00,0.000,4,0.000,0.067,2568,3901,3733
$GC,847,-1.96,-122.2,63.6,-8.2,87,851,0.00,2.47,0.00,0.000,6,0.000,0.032,2568,2502,3734
$GC,1045,-1.96,-122.2,79.0,-8.3,102,1049,0.00,2.65,0.00,0.000,4,0.000,0.065,2568,3895,3734
$GC,1117,-1.96,-122.2,86.0,-9.4,107,1121,0.00,2.40,0.00,0.000,6,0.000,0.033,2568,2492,3733
$GC,1312,-1.96,-122.2,104.5,-9.3,122,1317,0.00,2.62,0.00,0.000,4,0.000,0.066,2568,3892,3734
$GC,1390,-1.96,-122.2,112.1,-9.5,127,1397,0.00,2.42,0.00,0.000,6,0.000,0.033,2568,2493,3733
$STATE,1483,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1483,begin apogee
$GC,1490,-0.50,0.0,120.9,9.6,135,1594,1.62,0.00,95.68,0.611,6,0.093,0.000,2886,2415,3229
$STATE,1595,end apogee,CONTROL_FINISHED_OK
$STATE,1595,begin climb
$GC,1597,1.96,122.2,123.3,0.0,144,1701,2.50,2.55,93.07,0.591,4,0.061,0.051,3424,1024,2730
$GC,1768,1.96,122.2,108.1,12.5,157,1772,0.00,2.50,0.00,0.000,6,0.000,0.031,3424,2413,2729
$GC,1963,1.96,122.2,85.3,11.8,172,1964,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2412,2728
$GC,2154,1.96,122.2,63.1,12.4,187,2155,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2412,2728
$GC,2344,1.96,122.2,39.6,12.4,202,2348,0.00,2.53,0.00,0.000,4,0.000,0.050,3424,1029,2728
$GC,2444,1.96,122.2,25.9,14.6,209,2448,0.00,2.45,0.00,0.000,6,0.000,0.032,3427,2424,2728
$GC,2646,1.97,127.0,3.6,8.7,235,2654,0.00,2.65,3.12,0.609,4,0.000,0.049,3424,1027,2711
$STATE,2665,end climb,SURFACE_DEPTH_REACHED
$STATE,2665,begin surface coast
$FINISH,0.4,1.025556
$STATE,2686,end surface coast,CONTROL_FINISHED_OK
$STATE,2686,begin surface
$SM_CCo,2717,138.05,0.523,1,0,1598,400.08
$SM_GC,0.98,0.00,0.00,138.05,0.000,0.000,0.523,429,2505,1598,-11.83,0.14,400.08
$IRIDIUM_FIX,4726.11,-12115.92,260907,010156
$TT8_MAMPS,0.067496
$HUMID,1802
$INTERNAL_PRESSURE,9.33976
$TCM_TEMP,20.00
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,100.8,43.4
$24V_AH,23.5,9.939
$10V_AH,10.1,6.864
$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,29.900,35.725,191.875,138.050,0.000,38.425,31.616,177.668,3.000,388.810,2938.190,15.201,461.346,1485.496,421.761,456.394,429.901,0.000,707.046,0.000,456.986,0.000,11.683
$DEVICE_MAMPS,155.701,78.234,611.299,523.094,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,166.568,0.000,0.000,0.000,0.000,0.000,0.000,3327.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6473,241
$CFSIZE,260034560,253288448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,250907,234656,4739.333,-12252.480,15,1.3,15,18.3