version: 66.02
glider: 118
mission: 6
dive: 150
start: 9 26 107 9 9 33
data:
$ID,118
$MISSION,6
$DIVE,150
$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,-17243.988
$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,46
$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
$GPS1,090320,4739.400,-12253.204,13,1.4,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-63.5
$GPS2,090915,4739.394,-12253.192,14,1.5,14,18.3
$SPEED_LIMITS,0.154,0.231
$TGT_NAME,T4
$TGT_LATLONG,4740.500,-12249.000
$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,50.3,5616,-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,25,-1.96,-122.2,0.0,0.0,0,76,0.00,0.00,-48.78,0.000,2,0.000,0.000,427,2505,2833
$GC,80,-1.96,-122.2,2.1,-4.5,8,129,12.02,2.53,-29.95,0.000,4,0.158,0.059,2568,1107,3729
$GC,202,-1.96,-122.2,11.1,-10.3,27,208,0.00,2.42,0.00,0.000,6,0.000,0.032,2568,2502,3732
$GC,275,-1.96,-122.2,17.8,-8.4,38,280,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2502,3732
$GC,345,-1.96,-122.2,23.9,-9.1,46,349,0.00,2.60,0.00,0.000,4,0.000,0.068,2568,3904,3732
$GC,377,-1.96,-122.2,27.1,-9.6,48,382,0.00,2.40,0.00,0.000,6,0.000,0.032,2568,2489,3733
$GC,573,-1.96,-122.2,45.4,-9.3,63,577,0.00,2.70,0.00,0.000,4,0.000,0.065,2568,3900,3733
$GC,713,-1.96,-122.2,58.0,-9.6,73,717,0.00,2.40,0.00,0.000,6,0.000,0.032,2568,2494,3733
$GC,908,-1.96,-122.2,75.5,-8.9,88,913,0.00,2.62,0.00,0.000,4,0.000,0.065,2568,3891,3734
$GC,992,-1.96,-122.2,83.8,-9.3,94,1000,0.00,2.40,0.00,0.000,6,0.000,0.032,2568,2498,3734
$GC,1189,-1.96,-122.2,102.0,-8.8,110,1193,0.00,2.60,0.00,0.000,4,0.000,0.065,2568,3898,3734
$GC,1318,-1.96,-122.2,114.5,-10.7,119,1323,0.00,2.40,0.00,0.000,6,0.000,0.033,2568,2494,3734
$STATE,1372,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1373,begin apogee
$GC,1379,-0.50,0.0,120.5,9.7,123,1477,1.58,0.00,94.28,0.610,6,0.092,0.000,2886,2406,3229
$STATE,1478,end apogee,CONTROL_FINISHED_OK
$STATE,1478,begin climb
$GC,1481,1.96,122.2,123.6,0.0,131,1582,2.50,2.53,92.75,0.590,4,0.060,0.051,3425,1027,2730
$GC,1617,1.96,122.2,113.0,12.5,142,1621,0.00,2.42,0.00,0.000,6,0.000,0.032,3425,2418,2730
$GC,1814,1.96,122.2,90.0,11.9,157,1819,0.00,2.58,0.00,0.000,4,0.000,0.064,3425,3821,2730
$GC,1847,1.96,122.2,85.7,12.9,159,1852,0.00,2.42,0.00,0.000,6,0.000,0.031,3425,2427,2730
$GC,2049,1.96,122.2,61.0,12.4,175,2053,0.00,2.53,0.00,0.000,4,0.000,0.051,3425,1015,2729
$GC,2087,1.96,122.2,55.8,13.3,177,2094,0.00,2.45,0.00,0.000,6,0.000,0.031,3425,2411,2729
$GC,2286,1.96,122.2,31.7,12.4,193,2287,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2411,2729
$GC,2478,1.96,122.2,9.3,10.3,215,2483,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2411,2729
$GC,2550,2.04,186.8,3.4,5.7,226,2599,0.00,2.60,39.35,0.542,4,0.000,0.051,3425,1016,2466
$STATE,2603,end climb,SURFACE_DEPTH_REACHED
$STATE,2603,begin surface coast
$FINISH,0.2,1.023588
$STATE,2651,end surface coast,CONTROL_FINISHED_OK
$STATE,2651,begin surface
$SM_CCo,2681,104.55,0.518,0,0,1597,400.08
$SM_GC,1.07,0.00,0.00,104.55,0.000,0.000,0.518,426,2507,1597,-11.84,0.17,400.08
$IRIDIUM_FIX,4726.11,-12339.63,260907,121212
$TT8_MAMPS,0.067496
$HUMID,1787
$INTERNAL_PRESSURE,9.34952
$TCM_TEMP,17.70
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,95.2,43.4
$24V_AH,24.0,11.521
$10V_AH,10.1,7.645
$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,29.500,45.350,226.375,104.550,0.000,40.317,33.414,150.652,2.000,128.740,3137.260,14.741,461.907,1404.365,412.171,466.138,410.131,0.000,717.267,0.000,466.999,0.000,10.005
$DEVICE_MAMPS,158.002,69.030,609.765,517.725,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,167.115,0.000,0.000,0.000,0.000,0.000,0.000,3266.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6431,242
$CFSIZE,260034560,252903424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,095716,4739.348,-12252.841,13,2.2,32,18.3