version: 66.02
glider: 118
mission: 6
dive: 163
start: 9 26 107 20 40 46
data:
$ID,118
$MISSION,6
$DIVE,163
$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,-17202.998
$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,34
$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
$GPS1,203344,4740.204,-12250.404,9,1.8,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-63.2
$GPS2,204027,4740.185,-12250.411,16,1.9,16,18.3
$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,230.8,3727,-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,26,-1.69,-122.2,0.0,0.0,0,76,0.00,0.00,-48.67,0.000,2,0.000,0.000,427,2505,2828
$GC,80,-1.69,-122.2,2.1,-3.8,8,135,12.27,2.62,-34.55,0.000,4,0.156,0.084,2624,3898,3729
$GC,189,-1.69,-122.2,7.7,-9.3,25,195,0.00,2.42,0.00,0.000,6,0.000,0.031,2624,2478,3730
$GC,261,-1.69,-122.2,13.5,-8.7,36,267,0.00,2.42,0.00,0.000,4,0.000,0.048,2624,1113,3731
$GC,446,-1.69,-122.2,27.3,-6.4,56,450,0.00,2.42,0.00,0.000,6,0.000,0.032,2623,2511,3732
$GC,641,-1.69,-122.2,40.3,-7.0,71,645,0.00,2.55,0.00,0.000,4,0.000,0.068,2624,3893,3733
$GC,740,-1.69,-122.2,47.2,-6.8,78,745,0.00,2.40,0.00,0.000,6,0.000,0.032,2624,2484,3733
$GC,939,-1.69,-122.2,59.5,-6.8,93,943,0.00,2.65,0.00,0.000,4,0.000,0.065,2624,3902,3733
$GC,984,-1.69,-122.2,63.3,-7.8,96,988,0.00,2.40,0.00,0.000,6,0.000,0.034,2624,2495,3733
$GC,1182,-1.69,-122.2,77.7,-7.4,111,1187,0.00,2.62,0.00,0.000,4,0.000,0.066,2624,3901,3733
$GC,1286,-1.69,-122.2,86.2,-8.1,118,1293,0.00,2.42,0.00,0.000,6,0.000,0.033,2624,2489,3733
$STATE,1473,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1473,begin apogee
$GC,1479,-0.50,0.0,100.8,7.5,133,1582,1.27,0.00,95.00,0.597,6,0.095,0.000,2883,2424,3228
$STATE,1583,end apogee,CONTROL_FINISHED_OK
$STATE,1583,begin climb
$GC,1586,1.69,122.2,102.9,0.0,142,1687,2.25,2.55,92.55,0.578,4,0.064,0.051,3364,1028,2730
$GC,1714,1.69,122.2,93.9,11.2,152,1721,0.00,2.45,0.00,0.000,6,0.000,0.032,3364,2413,2729
$GC,1913,1.69,122.2,71.7,11.6,168,1914,0.00,0.00,0.00,0.000,6,0.000,0.000,3363,2413,2728
$GC,2101,1.69,122.2,50.7,11.3,183,2106,0.00,2.50,0.00,0.000,4,0.000,0.051,3364,1029,2728
$GC,2160,1.69,122.2,43.8,11.5,187,2164,0.00,2.42,0.00,0.000,6,0.000,0.033,3364,2419,2728
$GC,2358,1.69,122.2,24.4,8.9,202,2359,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,2420,2728
$GC,2552,1.69,126.0,6.8,7.3,228,2559,0.00,2.60,2.22,0.639,4,0.000,0.050,3364,1020,2715
$GC,2615,1.73,156.7,3.0,6.2,237,2634,0.00,2.45,14.52,0.557,2,0.000,0.032,3364,2415,2615
$STATE,2635,end climb,SURFACE_DEPTH_REACHED
$STATE,2635,begin surface coast
$FINISH,1.0,1.025330
$STATE,2666,end surface coast,CONTROL_FINISHED_OK
$STATE,2666,begin surface
$SM_CCo,2695,112.57,0.518,0,0,1597,400.08
$SM_GC,1.00,0.00,0.00,112.57,0.000,0.000,0.518,428,2509,1597,-11.83,0.25,400.08
$IRIDIUM_FIX,4722.92,-12256.21,260907,232324
$TT8_MAMPS,0.066729
$HUMID,1802
$INTERNAL_PRESSURE,9.34952
$TCM_TEMP,20.00
$XPDR_PINGS,130
$ALTIM_BOTTOM_PING,100.8,50.6
$24V_AH,23.5,12.912
$10V_AH,10.1,8.525
$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,29.175,40.150,204.300,112.575,0.000,37.696,31.795,199.095,34.000,128.710,3163.290,16.479,472.995,1430.110,405.062,463.569,453.365,0.000,694.383,0.000,462.530,0.000,11.700
$DEVICE_MAMPS,156.468,83.603,638.911,518.492,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,169.234,0.000,0.000,0.000,0.000,0.000,0.000,3292.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6447,245
$CFSIZE,260034560,252518400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,212853,4740.050,-12250.979,14,2.3,33,18.3