version: 66.02
glider: 118
mission: 6
dive: 156
start: 9 26 107 14 34 57
data:
$ID,118
$MISSION,6
$DIVE,156
$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,-17241.379
$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,41
$R_STBD_OVSHOOT,35
$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
$GPS1,142837,4739.912,-12250.339,13,1.2,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-63.6
$GPS2,143439,4739.907,-12250.294,12,1.2,12,18.3
$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,37.5,1952,-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,-48.70,0.000,2,0.000,0.000,425,2513,2836
$GC,80,-1.96,-122.2,2.2,-4.7,8,129,12.25,2.55,-29.65,0.000,4,0.161,0.059,2570,1104,3729
$GC,142,-1.96,-122.2,5.7,-9.5,18,149,0.00,2.42,0.00,0.000,6,0.000,0.032,2571,2498,3731
$GC,215,-1.96,-122.2,12.4,-7.8,29,222,0.00,2.50,0.00,0.000,4,0.000,0.046,2570,1099,3731
$GC,248,-1.96,-122.2,15.4,-9.0,34,255,0.00,2.45,0.00,0.000,6,0.000,0.033,2573,2509,3731
$GC,326,-1.96,-122.2,22.6,-9.3,44,330,0.00,2.60,0.00,0.000,4,0.000,0.067,2570,3901,3732
$GC,425,-1.96,-122.2,31.8,-9.4,51,429,0.00,2.40,0.00,0.000,6,0.000,0.032,2570,2488,3733
$GC,622,-1.96,-122.2,49.6,-9.5,66,627,0.00,2.62,0.00,0.000,4,0.000,0.065,2570,3901,3734
$GC,655,-1.96,-122.2,53.1,-10.8,68,660,0.00,2.42,0.00,0.000,6,0.000,0.034,2571,2504,3733
$GC,857,-1.96,-122.2,72.5,-9.2,84,861,0.00,2.62,0.00,0.000,4,0.000,0.066,2571,3895,3734
$GC,901,-1.96,-122.2,76.7,-9.0,87,909,0.00,2.42,0.00,0.000,6,0.000,0.034,2570,2489,3734
$GC,1098,-1.96,-122.2,93.6,-8.6,103,1102,0.00,2.60,0.00,0.000,4,0.000,0.066,2570,3892,3733
$GC,1136,-1.96,-122.2,97.2,-9.0,105,1143,0.00,2.40,0.00,0.000,6,0.000,0.034,2570,2500,3734
$GC,1335,-1.96,-122.2,101.7,0.0,121,1339,0.00,2.45,0.00,0.000,4,0.000,0.048,2571,1123,3734
$STATE,1352,end dive,NO_VERTICAL_VELOCITY
$STATE,1352,begin apogee
$GC,1361,-0.50,0.0,101.6,0.0,122,1463,1.48,0.00,94.88,0.596,6,0.067,0.000,2887,2424,3228
$STATE,1464,end apogee,CONTROL_FINISHED_OK
$STATE,1464,begin climb
$GC,1467,1.96,122.2,101.5,0.0,131,1568,2.53,2.58,92.07,0.578,4,0.065,0.050,3427,1041,2729
$GC,1737,1.96,122.2,74.9,12.4,152,1741,0.00,2.40,0.00,0.000,6,0.000,0.032,3427,2422,2728
$GC,1933,1.96,122.2,50.0,12.7,167,1937,0.00,2.50,0.00,0.000,4,0.000,0.050,3427,1041,2728
$GC,2010,1.96,122.2,40.8,11.3,172,2017,0.00,2.47,0.00,0.000,6,0.000,0.031,3427,2412,2728
$GC,2207,1.96,122.2,18.1,11.7,189,2213,0.00,2.58,0.00,0.000,4,0.000,0.067,3427,3810,2728
$GC,2259,1.96,122.2,12.1,11.7,197,2265,0.00,2.38,0.00,0.000,6,0.000,0.031,3427,2431,2728
$GC,2331,1.96,122.2,4.9,9.3,208,2337,0.00,2.53,0.00,0.000,4,0.000,0.051,3427,1013,2728
$STATE,2374,end climb,SURFACE_DEPTH_REACHED
$STATE,2375,begin surface coast
$FINISH,1.3,1.026014
$STATE,2411,end surface coast,CONTROL_FINISHED_OK
$STATE,2411,begin surface
$SM_CCo,2441,135.27,0.520,1,0,1597,400.08
$SM_GC,1.11,0.00,0.00,135.27,0.000,0.000,0.520,425,2509,1597,-11.85,0.25,400.08
$IRIDIUM_FIX,4722.92,-12249.11,260907,171743
$TT8_MAMPS,0.068263
$HUMID,1786
$INTERNAL_PRESSURE,9.34952
$TCM_TEMP,17.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.2,32.8
$24V_AH,23.5,12.153
$10V_AH,10.1,8.052
$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,29.975,54.850,186.950,135.275,0.000,38.060,34.701,160.281,0.750,116.960,2915.040,12.628,428.538,1258.512,429.882,425.755,413.357,0.000,715.955,0.000,434.320,0.000,5.439
$DEVICE_MAMPS,161.070,67.496,595.959,520.026,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,151.960,0.000,0.000,0.000,0.000,0.000,0.000,3032.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6466,220
$CFSIZE,260034560,252731392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260907,151856,4740.037,-12249.662,14,1.7,14,18.3