version: 66.02
glider: 118
mission: 6
dive: 164
start: 9 26 107 21 35 52
data:
$ID,118
$MISSION,6
$DIVE,164
$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,-17196.934
$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,42
$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
$GPS1,212853,4740.050,-12250.979,14,2.3,33,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-62.6
$GPS2,213533,4740.026,-12250.979,15,1.4,15,18.3
$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,231.2,2961,-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,-122.2,0.0,0.0,0,76,0.00,0.00,-48.65,0.000,2,0.000,0.000,428,2509,2835
$GC,79,-1.69,-122.2,2.2,-4.1,8,130,12.38,2.60,-30.98,0.000,4,0.157,0.081,2625,3901,3728
$GC,342,-1.69,-122.2,19.3,-7.4,48,348,0.00,2.42,0.00,0.000,6,0.000,0.031,2625,2484,3731
$GC,417,-1.69,-122.2,25.1,-7.5,55,422,0.00,2.62,0.00,0.000,4,0.000,0.065,2625,3900,3731
$GC,503,-1.69,-122.2,31.3,-7.7,61,507,0.00,2.40,0.00,0.000,6,0.000,0.032,2625,2492,3732
$GC,698,-1.69,-122.2,45.5,-7.0,76,703,0.00,2.65,0.00,0.000,4,0.000,0.065,2625,3893,3732
$GC,803,-1.69,-122.2,54.2,-8.0,84,808,0.00,2.40,0.00,0.000,6,0.000,0.033,2625,2497,3732
$GC,1006,-1.69,-122.2,70.0,-7.5,100,1007,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2493,3732
$GC,1195,-1.69,-122.2,82.5,-5.6,115,1199,0.00,2.60,0.00,0.000,4,0.000,0.064,2625,3891,3732
$GC,1247,-1.69,-122.2,85.9,-6.7,118,1254,0.00,2.40,0.00,0.000,6,0.000,0.032,2625,2478,3732
$STATE,1428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1428,begin apogee
$GC,1433,-0.50,0.0,100.7,8.3,133,1532,1.30,0.00,94.90,0.596,6,0.093,0.000,2887,2477,3229
$STATE,1533,end apogee,CONTROL_FINISHED_OK
$STATE,1533,begin climb
$GC,1536,1.69,122.2,102.1,0.0,141,1639,2.22,2.53,93.18,0.578,4,0.061,0.064,3364,3812,2729
$GC,1681,1.69,122.2,93.9,8.5,153,1685,0.00,2.40,0.00,0.000,6,0.000,0.031,3363,2428,2729
$GC,1877,1.69,122.2,75.4,10.4,168,1881,0.00,2.53,0.00,0.000,4,0.000,0.052,3363,1021,2728
$GC,1968,1.69,122.2,65.3,10.7,174,1975,0.00,2.45,0.00,0.000,6,0.000,0.033,3363,2409,2728
$GC,2164,1.69,122.2,44.7,10.3,190,2165,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,2409,2728
$GC,2355,1.69,122.2,25.0,10.2,205,2356,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,2409,2728
$GC,2549,1.69,122.2,6.0,7.9,231,2556,0.00,2.53,0.00,0.000,4,0.000,0.051,3364,1013,2728
$GC,2588,1.71,141.8,3.4,6.6,237,2608,0.00,2.45,12.27,0.564,6,0.000,0.034,3363,2427,2649
$STATE,2613,end climb,SURFACE_DEPTH_REACHED
$STATE,2613,begin surface coast
$FINISH,0.5,1.025485
$STATE,2633,end surface coast,CONTROL_FINISHED_OK
$STATE,2634,begin surface
$SM_CCo,2662,126.18,0.518,0,0,1597,400.08
$SM_GC,0.98,0.00,0.00,126.18,0.000,0.000,0.518,428,2507,1597,-11.84,0.20,400.08
$IRIDIUM_FIX,4722.92,-12251.79,270907,000050
$TT8_MAMPS,0.071331
$HUMID,1778
$INTERNAL_PRESSURE,9.32999
$TCM_TEMP,19.90
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,90.9,44.6
$24V_AH,24.1,13.020
$10V_AH,10.1,8.594
$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,29.100,35.100,200.350,126.175,0.000,32.790,44.566,190.174,2.500,128.740,3143.260,15.204,459.605,1441.405,407.992,446.548,446.025,0.000,691.110,0.000,451.759,0.000,10.141
$DEVICE_MAMPS,157.235,80.535,595.959,517.725,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,168.475,0.000,0.000,0.000,0.000,0.000,0.000,3272.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6450,244
$CFSIZE,260034560,252489728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,222338,4739.874,-12251.469,34,0.8,34,18.3