version: 66.02
glider: 118
mission: 6
dive: 148
start: 9 26 107 7 36 3
data:
$ID,118
$MISSION,6
$DIVE,148
$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,-17250.352
$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,47
$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
$GPS1,072957,4739.409,-12252.951,11,1.2,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-63.5
$GPS2,073545,4739.408,-12252.936,13,2.0,13,18.3
$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,269.8,350,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-2.84,-53.0,0.0,0.0,0,75,0.00,0.00,-48.80,0.000,2,0.000,0.000,427,2511,2831
$GC,79,-2.88,-91.1,2.2,-4.6,8,123,10.90,2.58,-27.15,0.000,4,0.159,0.058,2367,1109,3602
$GC,209,-2.88,-91.1,13.8,-11.6,28,215,0.00,2.45,0.00,0.000,6,0.000,0.032,2367,2495,3604
$GC,281,-2.88,-91.1,21.5,-10.2,38,285,0.00,2.58,0.00,0.000,4,0.000,0.067,2367,3901,3605
$GC,446,-2.88,-91.1,39.8,-11.6,50,450,0.00,2.38,0.00,0.000,6,0.000,0.030,2367,2489,3606
$GC,641,-2.88,-91.1,62.7,-11.5,65,642,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,2484,3606
$GC,830,-2.88,-91.1,84.9,-11.5,80,831,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,2484,3606
$GC,1019,-2.88,-91.1,106.7,-11.7,95,1024,0.00,2.42,0.00,0.000,4,0.000,0.047,2367,1118,3606
$STATE,1136,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1137,begin apogee
$GC,1144,-0.50,0.0,120.4,12.2,103,1224,2.62,0.00,71.47,0.612,6,0.111,0.000,2889,2424,3228
$STATE,1225,end apogee,CONTROL_FINISHED_OK
$STATE,1225,begin climb
$GC,1227,2.88,91.1,123.3,0.0,110,1308,3.42,0.00,69.25,0.594,6,0.058,0.000,3635,2427,2857
$GC,1497,2.88,91.1,84.5,16.7,132,1501,0.00,2.50,0.00,0.000,4,0.000,0.049,3635,1037,2856
$GC,1754,2.88,91.1,39.9,17.8,151,1758,0.00,2.40,0.00,0.000,6,0.000,0.033,3635,2418,2855
$GC,1952,2.88,91.1,9.7,13.7,171,1959,0.00,2.50,0.00,0.000,4,0.000,0.050,3635,1033,2856
$STATE,2037,end climb,SURFACE_DEPTH_REACHED
$STATE,2037,begin surface coast
$FINISH,2.8,1.025726
$STATE,2082,end surface coast,CONTROL_FINISHED_OK
$STATE,2082,begin surface
$SM_CCo,2091,286.33,0.505,3,0,542,659.61
$SM_GC,0.82,14.32,0.00,0.00,0.038,0.000,0.000,428,2512,542,-11.78,0.34,659.12
$IRIDIUM_FIX,4722.92,-12249.11,260907,101020
$TT8_MAMPS,0.067496
$HUMID,1790
$INTERNAL_PRESSURE,9.28116
$TCM_TEMP,20.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,90.8,48.1
$24V_AH,23.6,11.322
$10V_AH,10.1,7.515
$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,31.275,24.725,140.725,286.325,0.000,37.414,30.533,147.404,1.250,100.150,2553.850,13.901,376.511,1207.690,535.178,376.450,371.885,0.000,758.852,0.000,376.029,0.000,8.556
$DEVICE_MAMPS,158.769,66.729,612.066,505.453,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,131.829,0.000,0.000,0.000,0.000,0.000,0.000,2654.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6452,191
$CFSIZE,260034560,252973056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,260907,081907,4739.354,-12253.239,32,1.3,32,18.3