version: 66.02
glider: 118
mission: 6
dive: 157
start: 9 26 107 15 25 32
data:
$ID,118
$MISSION,6
$DIVE,157
$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,-17238.936
$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,37
$R_STBD_OVSHOOT,27
$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
$GPS1,151856,4740.037,-12249.662,14,1.7,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-63.7
$GPS2,152514,4740.051,-12249.604,17,1.6,17,18.3
$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,23.9,1123,-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,-122.2,0.0,0.0,0,82,0.00,0.00,-54.62,0.000,2,0.000,0.000,426,2510,2976
$GC,86,-1.96,-122.2,2.1,-4.1,9,135,12.15,2.62,-28.02,0.000,4,0.156,0.081,2568,3897,3730
$GC,386,-1.96,-122.2,27.5,-10.0,50,390,0.00,2.40,0.00,0.000,6,0.000,0.031,2569,2492,3731
$GC,582,-1.96,-122.2,46.3,-9.5,65,586,0.00,2.62,0.00,0.000,4,0.000,0.065,2569,3895,3732
$GC,786,-1.96,-122.2,67.6,-9.9,80,791,0.00,2.38,0.00,0.000,6,0.000,0.032,2568,2497,3732
$GC,982,-1.96,-122.2,85.3,-9.2,95,986,0.00,2.60,0.00,0.000,4,0.000,0.065,2568,3896,3732
$GC,1033,-1.96,-122.2,90.0,-9.2,98,1040,0.00,2.40,0.00,0.000,6,0.000,0.032,2568,2495,3732
$GC,1230,-1.96,-122.2,94.8,0.1,114,1234,0.00,2.45,0.00,0.000,4,0.000,0.048,2568,1121,3733
$STATE,1247,end dive,NO_VERTICAL_VELOCITY
$STATE,1247,begin apogee
$GC,1255,-0.50,0.0,94.7,0.0,115,1358,1.48,0.00,94.38,0.591,6,0.070,0.000,2885,2421,3229
$STATE,1359,end apogee,CONTROL_FINISHED_OK
$STATE,1359,begin climb
$GC,1362,1.96,122.2,94.6,0.0,124,1463,2.50,2.55,91.93,0.574,4,0.064,0.050,3422,1049,2729
$GC,1715,1.96,122.2,57.0,12.2,151,1722,0.00,2.40,0.00,0.000,6,0.000,0.032,3422,2414,2728
$GC,1911,1.96,122.2,32.9,12.1,167,1915,0.00,2.47,0.00,0.000,4,0.000,0.049,3422,1043,2728
$GC,2169,2.00,154.7,3.0,7.3,197,2194,0.00,2.38,20.23,0.547,6,0.000,0.032,3422,2418,2597
$GC,2260,2.24,346.0,2.8,-0.5,211,2304,0.25,0.00,40.78,0.531,2,0.044,0.000,3490,2418,2304
$STATE,2305,end climb,SURFACE_DEPTH_REACHED
$STATE,2305,begin surface coast
$FINISH,0.3,1.025191
$STATE,2389,end surface coast,CONTROL_FINISHED_OK
$STATE,2389,begin surface
$SM_CCo,2418,86.15,0.517,0,0,1598,400.08
$SM_GC,0.93,0.00,0.00,86.15,0.000,0.000,0.517,426,2512,1598,-11.85,0.34,400.08
$IRIDIUM_FIX,4722.92,-12249.11,260907,181843
$TT8_MAMPS,0.067496
$HUMID,1798
$INTERNAL_PRESSURE,9.35929
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.6,24.6
$24V_AH,23.5,12.256
$10V_AH,10.1,8.117
$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,30.150,29.725,247.300,86.150,0.000,38.452,41.088,164.268,0.500,116.950,2895.050,17.159,421.209,1190.471,398.285,471.473,413.538,0.000,687.544,0.000,466.903,0.000,5.416
$DEVICE_MAMPS,155.701,80.535,591.357,516.958,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,159.347,0.000,0.000,0.000,0.000,0.000,0.000,3012.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6446,231
$CFSIZE,260034560,252706816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,160809,4740.015,-12249.026,9,2.0,9,18.3