version: 66.02
glider: 118
mission: 6
dive: 165
start: 9 26 107 22 30 56
data:
$ID,118
$MISSION,6
$DIVE,165
$D_SURF,2
$D_FLARE,2
$D_TGT,90
$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,-17193.291
$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,36
$R_STBD_OVSHOOT,33
$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
$GPS1,222338,4739.874,-12251.469,34,0.8,34,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-63.7
$GPS2,223038,4739.842,-12251.458,17,1.2,17,18.3
$SPEED_LIMITS,0.115,0.209
$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,234.0,2284,-13.9,-6.667
$D_GRID,90
$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,27,-1.54,-122.2,0.0,0.0,0,77,0.00,0.00,-48.60,0.000,2,0.000,0.000,428,2508,2831
$GC,81,-1.54,-122.2,2.1,-3.0,8,136,12.48,2.62,-32.95,0.000,4,0.153,0.081,2656,3890,3730
$GC,222,-1.54,-122.2,9.5,-7.5,30,228,0.00,2.40,0.00,0.000,6,0.000,0.031,2656,2490,3732
$GC,294,-1.54,-122.2,15.4,-7.9,41,300,0.00,2.45,0.00,0.000,4,0.000,0.048,2657,1108,3733
$GC,378,-1.54,-122.2,21.6,-7.0,52,385,0.00,2.42,0.00,0.000,6,0.000,0.032,2656,2489,3733
$GC,575,-1.54,-122.2,33.5,-5.7,68,580,0.00,2.62,0.00,0.000,4,0.000,0.067,2656,3890,3734
$GC,709,-1.54,-122.2,42.5,-7.8,78,713,0.00,2.40,0.00,0.000,6,0.000,0.031,2656,2483,3734
$GC,907,-1.54,-122.2,55.1,-6.3,93,911,0.00,2.62,0.00,0.000,4,0.000,0.066,2656,3898,3735
$GC,971,-1.54,-122.2,60.3,-8.0,97,978,0.00,2.42,0.00,0.000,6,0.000,0.033,2656,2494,3734
$GC,1167,-1.54,-122.2,75.5,-7.8,113,1169,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2494,3735
$GC,1359,-1.54,-122.2,88.1,-6.4,128,1364,0.00,2.62,0.00,0.000,4,0.000,0.065,2656,3891,3734
$STATE,1388,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1388,begin apogee
$GC,1396,-0.50,0.0,90.0,6.9,130,1500,1.12,0.00,95.93,0.588,6,0.096,0.000,2885,2414,3228
$STATE,1500,end apogee,CONTROL_FINISHED_OK
$STATE,1501,begin climb
$GC,1503,1.54,122.2,93.3,0.0,139,1607,2.08,2.55,93.32,0.571,4,0.064,0.052,3334,1021,2730
$GC,1686,1.54,122.2,80.3,10.6,153,1690,0.00,2.42,0.00,0.000,6,0.000,0.033,3334,2413,2729
$GC,1881,1.54,122.2,60.0,10.8,168,1882,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2413,2728
$GC,2073,1.54,122.2,41.3,9.2,183,2077,0.00,2.53,0.00,0.000,4,0.000,0.052,3334,1021,2728
$GC,2112,1.54,122.2,37.3,10.0,185,2118,0.00,2.42,0.00,0.000,6,0.000,0.034,3333,2418,2728
$GC,2307,1.54,122.2,18.9,9.5,201,2313,0.00,2.60,0.00,0.000,4,0.000,0.067,3334,3822,2728
$GC,2379,1.54,122.2,11.5,10.6,212,2385,0.00,2.42,0.00,0.000,6,0.000,0.031,3334,2420,2728
$GC,2451,1.54,122.2,5.3,8.1,223,2458,0.00,2.50,0.00,0.000,4,0.000,0.053,3334,1023,2728
$STATE,2496,end climb,SURFACE_DEPTH_REACHED
$STATE,2496,begin surface coast
$FINISH,0.6,1.025410
$STATE,2524,end surface coast,CONTROL_FINISHED_OK
$STATE,2524,begin surface
$SM_CCo,2553,139.30,0.518,1,0,1598,400.08
$SM_GC,0.88,0.00,0.00,139.30,0.000,0.000,0.518,429,2501,1598,-11.83,0.00,400.08
$IRIDIUM_FIX,4722.92,-12253.53,270907,010105
$TT8_MAMPS,0.068263
$HUMID,1780
$INTERNAL_PRESSURE,9.34952
$TCM_TEMP,20.00
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,90.0,50.1
$24V_AH,23.6,13.128
$10V_AH,10.1,8.663
$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,28.875,45.250,189.250,139.300,0.000,39.036,39.447,206.078,2.000,122.850,3070.150,17.629,443.955,1352.158,431.659,438.284,464.345,0.000,712.225,0.000,436.340,0.000,10.158
$DEVICE_MAMPS,152.633,80.535,587.522,518.492,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,161.457,0.000,0.000,0.000,0.000,0.000,0.000,3193.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6433,234
$CFSIZE,260034560,252461056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260907,231707,4739.758,-12251.881,12,1.2,29,18.3