version: 66.02
glider: 118
mission: 6
dive: 167
start: 9 27 107 0 19 32
data:
$ID,118
$MISSION,6
$DIVE,167
$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,-17180.773
$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,29
$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
$GPS1,001103,4739.661,-12252.287,12,1.4,12,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-63.3
$GPS2,001915,4739.634,-12252.323,14,1.4,14,18.3
$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,235.9,1139,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,26,-1.54,-122.2,0.0,0.0,0,81,0.00,0.00,-53.05,0.000,2,0.000,0.000,429,2504,2943
$GC,85,-1.54,-122.2,2.3,-3.7,9,129,12.62,2.53,-23.65,0.000,4,0.157,0.060,2654,1106,3730
$GC,136,-1.54,-122.2,5.4,-5.2,17,142,0.00,2.42,0.00,0.000,6,0.000,0.031,2654,2503,3731
$GC,208,-1.54,-122.2,10.7,-6.8,28,214,0.00,2.55,0.00,0.000,4,0.000,0.046,2654,1106,3732
$GC,466,-1.54,-122.2,28.2,-6.4,58,472,0.00,2.42,0.00,0.000,6,0.000,0.031,2654,2503,3734
$GC,662,-1.54,-122.2,40.8,-6.6,74,666,0.00,2.50,0.00,0.000,4,0.000,0.046,2654,1104,3735
$GC,747,-1.54,-122.2,46.7,-6.7,80,752,0.00,2.45,0.00,0.000,6,0.000,0.032,2654,2505,3735
$GC,944,-1.54,-122.2,59.2,-6.4,95,948,0.00,2.58,0.00,0.000,4,0.000,0.070,2654,3892,3735
$GC,1008,-1.54,-122.2,63.7,-6.6,99,1015,0.00,2.40,0.00,0.000,6,0.000,0.033,2654,2478,3735
$GC,1205,-1.54,-122.2,75.9,-6.3,115,1209,0.00,2.62,0.00,0.000,4,0.000,0.066,2654,3892,3734
$GC,1264,-1.54,-122.2,79.9,-7.0,119,1273,0.00,2.38,0.00,0.000,6,0.000,0.034,2654,2494,3735
$STATE,1433,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1433,begin apogee
$GC,1439,-0.50,0.0,90.8,6.8,132,1542,1.12,0.00,95.90,0.588,6,0.090,0.000,2886,2413,3229
$STATE,1543,end apogee,CONTROL_FINISHED_OK
$STATE,1543,begin climb
$GC,1546,1.54,122.2,93.8,0.0,141,1647,2.05,2.53,93.10,0.571,4,0.063,0.051,3329,1033,2729
$GC,1668,1.54,122.2,86.5,8.6,151,1672,0.00,2.42,0.00,0.000,6,0.000,0.032,3329,2419,2728
$GC,1863,1.54,122.2,69.0,8.9,166,1868,0.00,2.53,0.00,0.000,4,0.000,0.051,3329,1039,2727
$GC,1895,1.54,122.2,65.9,10.0,168,1902,0.00,2.42,0.00,0.000,6,0.000,0.032,3329,2408,2727
$GC,2092,1.54,122.2,48.2,8.9,184,2093,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,2408,2727
$GC,2282,1.54,122.2,30.9,9.2,199,2284,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,2408,2727
$GC,2473,1.54,122.2,13.9,7.9,219,2479,0.00,2.50,0.00,0.000,4,0.000,0.051,3330,1024,2727
$GC,2512,1.54,122.2,9.9,10.1,225,2519,0.00,2.42,0.00,0.000,6,0.000,0.033,3329,2413,2727
$GC,2585,1.54,128.0,3.8,6.5,236,2598,0.00,2.62,3.78,0.608,4,0.000,0.067,3329,3811,2707
$STATE,2648,end climb,SURFACE_DEPTH_REACHED
$STATE,2648,begin surface coast
$FINISH,1.3,1.025944
$STATE,2662,end surface coast,CONTROL_FINISHED_OK
$STATE,2662,begin surface
$SM_CCo,2691,129.80,0.517,0,0,1598,400.08
$SM_GC,0.85,0.00,0.00,129.80,0.000,0.000,0.517,430,2480,1598,-11.82,-0.57,400.08
$IRIDIUM_FIX,4722.92,-12251.79,270907,040416
$TT8_MAMPS,0.067496
$HUMID,1795
$INTERNAL_PRESSURE,9.34952
$TCM_TEMP,19.90
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,90.8,49.2
$24V_AH,24.0,13.340
$10V_AH,10.1,8.802
$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,29.000,44.700,192.775,129.800,0.000,81.439,59.609,155.981,3.750,128.730,3271.270,14.700,468.241,1501.684,417.232,455.701,482.254,0.000,709.158,0.000,461.120,0.000,10.163
$DEVICE_MAMPS,157.235,69.797,608.231,516.958,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,171.167,0.000,0.000,0.000,0.000,0.000,0.000,3400.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6476,248
$CFSIZE,260034560,252395520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,010750,4739.578,-12252.619,15,1.8,32,18.3