version: 66.02
glider: 118
mission: 6
dive: 169
start: 9 27 107 2 8 20
data:
$ID,118
$MISSION,6
$DIVE,169
$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,-17169.295
$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,49
$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
$GPS1,020208,4739.596,-12252.963,28,1.4,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-62.6
$GPS2,020802,4739.621,-12252.969,15,1.4,15,18.3
$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,207.3,407,-20.7,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-2.14,-59.0,0.0,0.0,0,76,0.00,0.00,-48.78,0.000,2,0.000,0.000,429,2481,2825
$GC,80,-2.20,-107.9,2.1,-3.0,8,130,11.70,2.47,-29.77,0.000,4,0.160,0.060,2514,1122,3670
$GC,381,-2.20,-107.9,27.1,-9.0,49,385,0.00,2.40,0.00,0.000,6,0.000,0.033,2514,2503,3673
$GC,577,-2.20,-107.9,44.2,-9.5,64,581,0.00,2.50,0.00,0.000,4,0.000,0.044,2515,1111,3674
$GC,623,-2.20,-107.9,48.6,-9.6,67,627,0.00,2.42,0.00,0.000,6,0.000,0.032,2514,2508,3675
$GC,819,-2.20,-107.9,67.4,-9.6,82,823,0.00,2.58,0.00,0.000,4,0.000,0.069,2514,3893,3675
$GC,896,-2.20,-107.9,75.7,-10.4,87,903,0.00,2.40,0.00,0.000,6,0.000,0.031,2514,2495,3675
$STATE,1044,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1044,begin apogee
$GC,1051,-0.50,0.0,90.7,10.1,99,1142,1.88,0.00,83.95,0.586,6,0.103,0.000,2885,2412,3228
$STATE,1143,end apogee,CONTROL_FINISHED_OK
$STATE,1143,begin climb
$GC,1145,2.20,107.9,94.1,0.0,107,1236,2.75,2.53,81.85,0.571,4,0.061,0.050,3479,1035,2787
$GC,1305,2.20,107.9,78.9,13.5,119,1309,0.00,2.42,0.00,0.000,6,0.000,0.032,3479,2422,2786
$GC,1500,2.20,107.9,53.2,13.6,134,1504,0.00,2.50,0.00,0.000,4,0.000,0.050,3479,1036,2786
$GC,1578,2.20,107.9,42.2,13.9,139,1585,0.00,2.42,0.00,0.000,6,0.000,0.032,3479,2413,2786
$GC,1776,2.20,107.9,16.4,12.8,157,1782,0.00,2.53,0.00,0.000,4,0.000,0.050,3479,1030,2785
$GC,1872,2.20,107.9,5.0,12.5,171,1878,0.00,2.40,0.00,0.000,6,0.000,0.031,3479,2419,2786
$GC,1945,2.30,186.5,2.5,0.7,182,2000,0.00,2.58,46.17,0.532,4,0.000,0.049,3479,1030,2467
$STATE,2004,end climb,SURFACE_DEPTH_REACHED
$STATE,2005,begin surface coast
$FINISH,0.1,1.025078
$STATE,2084,end surface coast,CONTROL_FINISHED_OK
$STATE,2084,begin surface
$SM_CCo,2115,101.80,0.514,0,0,1598,400.08
$SM_GC,0.93,0.00,0.00,101.80,0.000,0.000,0.514,428,2504,1598,-11.83,0.11,400.08
$IRIDIUM_FIX,4719.74,-12251.79,270907,050557
$TT8_MAMPS,0.069797
$HUMID,1811
$INTERNAL_PRESSURE,9.37882
$TCM_TEMP,20.00
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,90.7,42.0
$24V_AH,23.5,13.541
$10V_AH,10.1,8.929
$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,30.050,34.875,211.975,101.800,0.000,40.956,37.574,142.439,2.000,100.170,2557.830,15.476,380.228,1038.277,390.835,389.738,384.300,0.000,645.282,0.000,386.391,0.000,11.827
$DEVICE_MAMPS,160.303,69.797,585.988,513.890,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,140.557,0.000,0.000,0.000,0.000,0.000,0.000,2658.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6442,204
$CFSIZE,260034560,252342272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,024615,4739.562,-12253.101,14,1.6,14,18.3