version: 66.02
glider: 118
mission: 6
dive: 161
start: 9 26 107 18 42 10
data:
$ID,118
$MISSION,6
$DIVE,161
$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,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,-17214.658
$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,39
$R_STBD_OVSHOOT,30
$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
$GPS1,183526,4740.462,-12248.971,12,1.6,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-64.5
$GPS2,184151,4740.458,-12248.859,12,1.8,12,18.3
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$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,233.0,5720,-15.4,-7.407
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.69,-122.2,0.0,0.0,0,82,0.00,0.00,-54.55,0.000,2,0.000,0.000,426,2512,2966
$GC,86,-1.69,-122.2,2.2,-4.2,9,130,12.43,2.65,-25.60,0.000,4,0.155,0.082,2624,3899,3729
$GC,176,-1.69,-122.2,7.5,-8.6,23,183,0.00,2.40,0.00,0.000,6,0.000,0.032,2623,2496,3731
$GC,248,-1.69,-122.2,14.1,-8.0,34,255,0.00,2.60,0.00,0.000,4,0.000,0.067,2623,3892,3731
$GC,315,-1.69,-122.2,19.0,-7.6,44,321,0.00,2.40,0.00,0.000,6,0.000,0.033,2624,2482,3731
$GC,384,-1.69,-122.2,24.2,-7.5,51,388,0.00,2.42,0.00,0.000,4,0.000,0.048,2623,1114,3731
$GC,430,-1.69,-122.2,28.0,-8.5,54,434,0.00,2.40,0.00,0.000,6,0.000,0.033,2623,2495,3732
$GC,626,-1.69,-122.2,42.1,-6.7,69,630,0.00,2.62,0.00,0.000,4,0.000,0.069,2624,3900,3732
$GC,765,-1.69,-122.2,51.4,-6.5,79,771,0.00,2.40,0.00,0.000,6,0.000,0.033,2623,2482,3732
$GC,961,-1.69,-122.2,63.1,-6.5,95,965,0.00,2.62,0.00,0.000,4,0.000,0.065,2623,3898,3732
$GC,1061,-1.69,-122.2,69.5,-7.0,102,1065,0.00,2.40,0.00,0.000,6,0.000,0.033,2624,2497,3732
$GC,1257,-1.69,-122.2,80.6,-5.1,117,1261,0.00,2.60,0.00,0.000,4,0.000,0.065,2623,3899,3732
$GC,1342,-1.69,-122.2,85.8,-6.5,123,1347,0.00,2.40,0.00,0.000,6,0.000,0.033,2623,2508,3732
$STATE,1542,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1542,begin apogee
$GC,1548,-0.50,0.0,101.0,7.9,139,1646,1.33,0.00,94.47,0.603,6,0.095,0.000,2888,2408,3229
$STATE,1647,end apogee,CONTROL_FINISHED_OK
$STATE,1647,begin climb
$GC,1650,1.69,122.2,103.2,0.0,147,1751,2.28,2.55,92.22,0.583,4,0.063,0.051,3362,1036,2730
$GC,1831,1.69,122.2,88.1,11.4,161,1838,0.00,2.42,0.00,0.000,6,0.000,0.032,3362,2414,2729
$GC,2028,1.69,122.2,66.2,11.5,177,2029,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,2414,2728
$GC,2220,1.69,122.2,46.8,10.0,192,2221,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,2413,2729
$GC,2408,1.69,122.2,28.0,10.2,207,2412,0.00,2.50,0.00,0.000,4,0.000,0.051,3362,1032,2728
$GC,2472,1.69,122.2,20.8,10.9,211,2480,0.00,2.42,0.00,0.000,6,0.000,0.033,3362,2410,2728
$STATE,2670,end climb,SURFACE_DEPTH_REACHED
$STATE,2670,begin surface coast
$FINISH,0.3,1.025632
$STATE,2695,end surface coast,CONTROL_FINISHED_OK
$STATE,2695,begin surface
$SM_CCo,2722,135.73,0.522,1,0,1597,400.08
$SM_GC,0.97,0.00,0.00,135.73,0.000,0.000,0.522,425,2504,1597,-11.84,0.11,400.08
$IRIDIUM_FIX,4722.92,-12244.69,260907,212109
$TT8_MAMPS,0.06903
$HUMID,1769
$INTERNAL_PRESSURE,9.32999
$TCM_TEMP,20.00
$XPDR_PINGS,22
$ALTIM_BOTTOM_PING,70.7,36.6
$24V_AH,24.1,12.673
$10V_AH,10.1,8.374
$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,29.250,40.100,186.700,135.725,0.000,37.834,30.826,187.361,6.000,129.630,3187.370,12.651,471.710,1476.266,412.298,464.613,438.697,0.000,706.379,0.000,470.760,0.000,5.452
$DEVICE_MAMPS,154.934,82.069,602.862,521.560,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,168.959,0.000,0.000,0.000,0.000,0.000,0.000,3317.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6447,244
$CFSIZE,260034560,252583936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260907,193107,4740.365,-12249.647,13,1.0,29,18.3