version: 66.02
glider: 118
mission: 6
dive: 160
start: 9 26 107 17 56 27
data:
$ID,118
$MISSION,6
$DIVE,160
$D_SURF,2
$D_FLARE,2
$D_TGT,100
$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,35
$T_MISSION,70
$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,-17221.422
$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,33
$R_STBD_OVSHOOT,26
$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
$GPS1,174520,4740.362,-12248.577,8,1.2,13,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-63.7
$GPS2,175609,4740.353,-12248.521,11,1.9,11,18.3
$SPEED_LIMITS,0.165,0.236
$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,276.2,657,-19.2,-9.524
$D_GRID,100
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-2.07,-122.2,0.0,0.0,0,101,0.00,0.00,-72.70,0.000,2,0.000,0.000,430,2509,3393
$GC,105,-2.07,-122.2,2.1,-0.9,12,136,11.93,2.58,-10.27,0.000,4,0.159,0.058,2543,1104,3730
$GC,182,-2.07,-122.2,8.6,-9.1,24,189,0.00,2.45,0.00,0.000,6,0.000,0.034,2543,2507,3732
$GC,255,-2.07,-122.2,14.6,-7.9,35,261,0.00,2.58,0.00,0.000,4,0.000,0.071,2543,3895,3732
$GC,316,-2.07,-122.2,20.3,-10.1,44,323,0.00,2.40,0.00,0.000,6,0.000,0.032,2543,2484,3732
$GC,511,-2.07,-122.2,41.8,-11.7,60,512,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2480,3732
$GC,705,-2.07,-122.2,60.9,-9.3,75,709,0.00,2.65,0.00,0.000,4,0.000,0.067,2543,3898,3732
$GC,791,-2.07,-122.2,69.8,-10.3,81,798,0.00,2.42,0.00,0.000,6,0.000,0.033,2542,2490,3732
$GC,997,-2.07,-122.2,89.5,-9.5,97,1001,0.00,2.62,0.00,0.000,4,0.000,0.066,2543,3905,3732
$GC,1082,-2.07,-122.2,98.5,-9.7,103,1087,0.00,2.42,0.00,0.000,6,0.000,0.033,2543,2504,3732
$STATE,1259,end dive,NO_VERTICAL_VELOCITY
$STATE,1259,begin apogee
$GC,1265,-0.50,0.0,99.4,0.0,117,1368,1.62,0.00,94.55,0.601,6,0.077,0.000,2892,2404,3228
$STATE,1369,end apogee,CONTROL_FINISHED_OK
$STATE,1369,begin climb
$GC,1372,2.07,122.2,99.3,0.0,126,1473,2.58,2.70,91.82,0.581,4,0.061,0.063,3445,3813,2729
$GC,1521,2.07,122.2,86.0,15.7,138,1525,0.00,2.40,0.00,0.000,6,0.000,0.031,3445,2418,2729
$GC,1717,2.07,122.2,56.2,15.5,153,1721,0.00,2.50,0.00,0.000,4,0.000,0.052,3445,1023,2728
$GC,1815,2.07,122.2,40.9,15.0,160,1820,0.00,2.45,0.00,0.000,6,0.000,0.033,3445,2416,2728
$GC,2013,2.07,122.2,13.8,12.8,179,2020,0.00,2.58,0.00,0.000,4,0.000,0.050,3445,1022,2728
$GC,2075,2.07,122.2,5.7,13.7,188,2081,0.00,2.42,0.00,0.000,6,0.000,0.033,3445,2419,2728
$STATE,2107,end climb,SURFACE_DEPTH_REACHED
$STATE,2107,begin surface coast
$FINISH,0.2,1.025640
$STATE,2118,end surface coast,CONTROL_FINISHED_OK
$STATE,2118,begin surface
$SM_CCo,2147,130.25,0.520,1,0,1599,400.08
$SM_GC,0.90,0.00,0.00,130.25,0.000,0.000,0.520,428,2512,1599,-11.84,0.34,400.08
$IRIDIUM_FIX,4716.56,-12503.70,260907,212139
$TT8_MAMPS,0.068263
$HUMID,1769
$INTERNAL_PRESSURE,9.33976
$TCM_TEMP,20.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.4,30.3
$24V_AH,23.5,12.564
$10V_AH,10.1,8.305
$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,29.625,35.450,186.375,130.250,0.000,76.409,91.516,281.790,0.750,100.140,2908.860,11.279,383.000,1161.476,408.478,369.576,621.999,0.000,659.091,0.000,368.564,0.000,5.448
$DEVICE_MAMPS,158.769,70.564,601.328,520.026,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,135.018,0.000,0.000,0.000,0.000,0.000,0.000,3009.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6442,195
$CFSIZE,260034560,252620800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260907,183526,4740.462,-12248.971,12,1.6,12,18.3