version: 66.02
glider: 118
mission: 6
dive: 145
start: 9 26 107 4 58 55
data:
$ID,118
$MISSION,6
$DIVE,145
$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,-17269.043
$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,44
$R_STBD_OVSHOOT,31
$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
$GPS1,045237,4739.309,-12252.501,41,0.9,41,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-63.3
$GPS2,045839,4739.310,-12252.466,14,1.7,14,18.3
$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,357.1,301,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-2.84,-53.0,0.0,0.0,0,76,0.00,0.00,-48.62,0.000,2,0.000,0.000,429,2501,2832
$GC,79,-2.88,-87.3,2.3,-5.0,8,123,10.98,2.53,-24.17,0.000,4,0.157,0.058,2368,1114,3587
$GC,373,-2.88,-87.3,31.7,-9.7,44,381,0.00,2.45,0.00,0.000,6,0.000,0.031,2367,2496,3590
$GC,570,-2.88,-87.3,52.3,-10.9,60,575,0.00,2.55,0.00,0.000,4,0.000,0.044,2368,1104,3591
$GC,603,-2.88,-87.3,56.1,-11.5,62,608,0.00,2.45,0.00,0.000,6,0.000,0.031,2368,2496,3591
$GC,805,-2.88,-87.3,79.1,-11.7,78,809,0.00,2.60,0.00,0.000,4,0.000,0.067,2368,3893,3591
$GC,908,-2.88,-87.3,91.4,-12.6,85,912,0.00,2.40,0.00,0.000,6,0.000,0.031,2368,2487,3591
$GC,1103,-2.88,-87.3,115.2,-11.0,100,1107,0.00,2.62,0.00,0.000,4,0.000,0.063,2368,3892,3591
$GC,1141,-2.88,-87.3,119.7,-11.7,102,1148,0.00,2.40,0.00,0.000,6,0.000,0.031,2368,2500,3591
$STATE,1159,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1159,begin apogee
$GC,1165,-0.50,0.0,121.9,11.8,104,1239,2.67,0.00,68.68,0.609,6,0.113,0.000,2885,2421,3229
$STATE,1240,end apogee,CONTROL_FINISHED_OK
$STATE,1240,begin climb
$GC,1242,2.88,87.3,123.8,0.0,110,1316,3.38,0.00,66.82,0.594,6,0.055,0.000,3631,2421,2872
$GC,1499,2.88,87.3,88.4,16.0,131,1504,0.00,2.53,0.00,0.000,4,0.000,0.051,3631,1024,2871
$GC,1604,2.88,87.3,70.7,16.6,138,1611,0.00,2.42,0.00,0.000,6,0.000,0.031,3631,2416,2871
$GC,1800,2.88,87.3,38.6,16.4,154,1804,0.00,2.53,0.00,0.000,4,0.000,0.049,3631,1023,2871
$GC,1838,2.88,87.3,32.2,16.7,156,1845,0.00,2.47,0.00,0.000,6,0.000,0.032,3631,2419,2871
$GC,2041,2.89,94.0,3.2,8.1,181,2053,0.00,2.65,4.68,0.590,4,0.000,0.064,3631,3810,2845
$GC,2061,2.95,146.7,2.7,3.0,184,2104,0.00,2.40,37.22,0.538,6,0.000,0.029,3631,2413,2630
$GC,2170,3.04,217.7,2.1,0.9,201,2191,0.12,0.00,18.15,0.535,2,0.064,0.000,3660,2413,2478
$STATE,2191,end climb,SURFACE_DEPTH_REACHED
$STATE,2192,begin surface coast
$FINISH,0.4,1.025253
$STATE,2377,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2377,begin surface
$SM_CCo,2405,100.57,0.515,0,0,1597,400.08
$SM_GC,0.98,0.00,0.00,100.57,0.000,0.000,0.515,424,2507,1597,-11.85,0.20,400.08
$IRIDIUM_FIX,4719.74,-12215.54,260907,080816
$TT8_MAMPS,0.068263
$HUMID,1817
$INTERNAL_PRESSURE,9.37882
$TCM_TEMP,20.10
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,90.7,46.7
$24V_AH,23.5,10.995
$10V_AH,10.1,7.319
$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,32.000,35.275,195.550,100.575,0.000,38.284,32.343,156.818,1.750,346.690,2610.310,14.255,434.141,1228.466,383.619,429.114,404.045,0.000,649.635,0.000,428.730,0.000,8.553
$DEVICE_MAMPS,157.235,70.564,608.998,515.424,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,159.848,0.000,0.000,0.000,0.000,0.000,0.000,2957.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6470,232
$CFSIZE,260034560,253059072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,054133,4739.540,-12252.347,8,1.4,8,18.3