version: 66.02
glider: 118
mission: 6
dive: 158
start: 9 26 107 16 13 45
data:
$ID,118
$MISSION,6
$DIVE,158
$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,-17232.469
$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,56
$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
$GPS1,160809,4740.015,-12249.026,9,2.0,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-64.7
$GPS2,161327,4740.012,-12248.962,12,2.0,12,18.3
$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,338.7,905,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.96,-122.2,0.0,0.0,0,69,0.00,0.00,-42.75,0.000,2,0.000,0.000,426,2512,2707
$GC,73,-1.96,-122.2,2.2,-4.7,7,123,12.00,2.55,-32.47,0.000,4,0.157,0.058,2569,1124,3730
$GC,327,-1.96,-122.2,23.9,-8.4,43,335,0.00,2.47,0.00,0.000,6,0.000,0.031,2569,2491,3733
$GC,524,-1.96,-122.2,40.0,-8.2,59,525,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2492,3734
$GC,715,-1.96,-122.2,55.9,-8.4,74,719,0.00,2.60,0.00,0.000,4,0.000,0.068,2569,3895,3734
$GC,814,-1.96,-122.2,65.1,-8.7,81,818,0.00,2.38,0.00,0.000,6,0.000,0.032,2569,2506,3734
$GC,1009,-1.96,-122.2,81.4,-8.3,96,1014,0.00,2.45,0.00,0.000,4,0.000,0.048,2569,1120,3735
$STATE,1164,end dive,NO_VERTICAL_VELOCITY
$STATE,1164,begin apogee
$GC,1173,-0.50,0.0,81.7,0.0,107,1275,1.50,0.00,94.00,0.584,6,0.070,0.000,2888,2422,3228
$STATE,1276,end apogee,CONTROL_FINISHED_OK
$STATE,1276,begin climb
$GC,1279,1.96,122.2,81.4,0.0,116,1380,2.50,2.58,91.45,0.565,4,0.064,0.048,3427,1037,2730
$GC,1632,1.96,122.2,44.0,12.0,143,1639,0.00,2.42,0.00,0.000,6,0.000,0.032,3427,2417,2728
$GC,1829,1.98,134.4,24.2,8.3,159,1843,0.00,2.58,8.80,0.575,4,0.000,0.049,3427,1032,2680
$STATE,2019,end climb,SURFACE_DEPTH_REACHED
$STATE,2019,begin surface coast
$FINISH,0.5,1.026163
$STATE,2041,end surface coast,CONTROL_FINISHED_OK
$STATE,2042,begin surface
$SM_CCo,2071,126.93,0.515,0,0,1598,400.08
$SM_GC,1.00,0.00,0.00,126.93,0.000,0.000,0.515,428,2500,1598,-11.83,0.00,400.08
$IRIDIUM_FIX,4722.92,-12249.11,260907,191908
$TT8_MAMPS,0.067496
$HUMID,1777
$INTERNAL_PRESSURE,9.33976
$TCM_TEMP,20.10
$XPDR_PINGS,1
$24V_AH,24.0,12.349
$10V_AH,10.1,8.171
$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,29.650,25.000,194.250,126.925,0.000,38.394,23.536,128.207,1.250,99.290,2443.710,12.626,361.752,1046.631,390.168,389.845,340.439,0.000,631.253,0.000,387.713,0.000,9.538
$DEVICE_MAMPS,157.235,68.263,583.687,514.657,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,129.251,0.000,0.000,0.000,0.000,0.000,0.000,2543.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3311,187
$CFSIZE,260034560,252690432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,165137,4740.167,-12248.623,14,1.0,30,18.3