version: 66.02
glider: 118
mission: 6
dive: 143
start: 9 26 107 3 19 6
data:
$ID,118
$MISSION,6
$DIVE,143
$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,-17278.5
$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,42
$R_STBD_OVSHOOT,33
$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
$GPS1,031251,4739.508,-12253.191,10,1.3,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-63.2
$GPS2,031850,4739.517,-12253.162,11,1.2,11,18.3
$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,77.3,953,-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,26,-1.96,-122.2,0.0,0.0,0,82,0.00,0.00,-54.58,0.000,2,0.000,0.000,422,2505,2976
$GC,86,-1.96,-122.2,2.0,-4.0,9,135,12.10,2.62,-28.42,0.000,4,0.153,0.081,2566,3889,3730
$GC,386,-1.96,-122.2,27.2,-9.3,50,391,0.00,2.40,0.00,0.000,6,0.000,0.031,2566,2491,3733
$GC,583,-1.96,-122.2,43.1,-8.3,65,587,0.00,2.62,0.00,0.000,4,0.000,0.064,2566,3890,3734
$GC,841,-1.96,-122.2,67.5,-8.7,84,845,0.00,2.40,0.00,0.000,6,0.000,0.032,2566,2494,3734
$GC,1036,-1.96,-122.2,84.7,-8.9,99,1040,0.00,2.62,0.00,0.000,4,0.000,0.066,2566,3897,3734
$GC,1189,-1.96,-122.2,99.1,-8.7,110,1193,0.00,2.42,0.00,0.000,6,0.000,0.032,2566,2493,3734
$GC,1385,-1.96,-122.2,115.9,-8.5,125,1390,0.00,2.62,0.00,0.000,4,0.000,0.065,2566,3898,3734
$STATE,1434,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1434,begin apogee
$GC,1443,-0.50,0.0,120.4,8.4,128,1545,1.58,0.00,95.80,0.608,6,0.096,0.000,2883,2416,3228
$STATE,1546,end apogee,CONTROL_FINISHED_OK
$STATE,1546,begin climb
$GC,1549,1.96,122.2,121.9,0.0,137,1650,2.53,2.53,92.53,0.589,4,0.061,0.051,3426,1029,2729
$GC,1703,1.96,122.2,107.3,12.8,149,1711,0.00,2.45,0.00,0.000,6,0.000,0.032,3426,2412,2728
$GC,1900,1.96,122.2,82.6,12.7,165,1904,0.00,2.53,0.00,0.000,4,0.000,0.050,3426,1027,2728
$GC,1959,1.96,122.2,74.9,13.7,169,1963,0.00,2.42,0.00,0.000,6,0.000,0.032,3426,2417,2728
$GC,2155,1.96,122.2,49.5,12.3,184,2156,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2417,2727
$GC,2345,1.96,122.2,26.4,12.2,199,2346,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2418,2728
$GC,2539,1.96,122.2,4.2,9.2,224,2546,0.00,2.53,0.00,0.000,4,0.000,0.050,3426,1028,2727
$STATE,2569,end climb,SURFACE_DEPTH_REACHED
$STATE,2569,begin surface coast
$FINISH,1.3,1.025592
$STATE,2590,end surface coast,CONTROL_FINISHED_OK
$STATE,2590,begin surface
$SM_CCo,2622,141.25,0.520,1,0,1598,400.08
$SM_GC,0.94,0.00,0.00,141.25,0.000,0.000,0.520,425,2506,1598,-11.85,0.20,400.08
$IRIDIUM_FIX,4722.92,-12251.79,260907,060653
$TT8_MAMPS,0.066729
$HUMID,1800
$INTERNAL_PRESSURE,9.34952
$TCM_TEMP,20.00
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,90.4,45.0
$24V_AH,23.5,10.679
$10V_AH,10.1,7.195
$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,29.975,35.400,188.325,141.250,0.000,38.024,31.641,156.068,1.750,376.190,2817.810,12.024,444.992,1413.989,417.426,463.575,399.049,0.000,699.651,0.000,464.422,0.000,8.552
$DEVICE_MAMPS,153.400,80.535,608.231,520.026,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,160.263,0.000,0.000,0.000,0.000,0.000,0.000,3194.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6432,232
$CFSIZE,260034560,253124608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260907,040609,4739.384,-12252.794,11,1.1,11,18.3