version: 66.02
glider: 118
mission: 6
dive: 170
start: 9 27 107 2 52 27
data:
$ID,118
$MISSION,6
$DIVE,170
$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,-17167.238
$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,27
$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
$GPS1,024615,4739.562,-12253.101,14,1.6,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-63.0
$GPS2,025209,4739.589,-12253.104,15,1.9,15,18.3
$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,190.0,257,-27.3,-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,-2.78,-34.4,0.0,0.0,0,76,0.00,0.00,-48.75,0.000,2,0.000,0.000,428,2505,2848
$GC,80,-2.81,-59.6,2.2,-3.4,8,119,10.93,2.45,-21.60,0.000,4,0.156,0.054,2385,1115,3473
$GC,198,-2.81,-59.6,11.2,-8.9,26,204,0.00,2.40,0.00,0.000,6,0.000,0.031,2387,2511,3476
$GC,270,-2.82,-65.4,15.8,-5.9,37,276,0.00,0.00,-0.32,0.000,6,0.000,0.000,2385,2512,3497
$GC,348,-2.82,-65.4,21.2,-7.5,48,353,0.00,2.50,0.00,0.000,4,0.000,0.044,2385,1116,3498
$GC,440,-2.82,-65.4,28.5,-7.1,55,444,0.00,2.40,0.00,0.000,6,0.000,0.031,2386,2512,3499
$GC,636,-2.82,-65.4,42.8,-8.1,70,640,0.00,2.47,0.00,0.000,4,0.000,0.044,2385,1113,3499
$GC,701,-2.82,-65.4,48.6,-9.3,74,708,0.00,2.40,0.00,0.000,6,0.000,0.031,2385,2493,3498
$GC,900,-2.82,-65.4,65.1,-8.6,90,904,0.00,2.58,0.00,0.000,4,0.000,0.067,2385,3901,3499
$GC,978,-2.82,-65.4,72.2,-8.5,95,986,0.00,2.40,0.00,0.000,6,0.000,0.031,2385,2496,3499
$GC,1174,-2.82,-65.4,89.5,-9.2,111,1179,0.00,2.60,0.00,0.000,4,0.000,0.064,2385,3894,3499
$STATE,1187,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1187,begin apogee
$GC,1196,-0.50,0.0,90.5,8.6,112,1252,2.50,0.00,50.50,0.595,6,0.113,0.000,2886,2417,3229
$STATE,1253,end apogee,CONTROL_FINISHED_OK
$STATE,1253,begin climb
$GC,1255,2.82,65.4,92.6,0.0,117,1311,3.35,0.00,49.30,0.578,6,0.058,0.000,3616,2417,2961
$GC,1500,2.82,65.4,61.2,14.5,137,1505,0.00,2.47,0.00,0.000,4,0.000,0.050,3616,1034,2960
$GC,1591,2.82,65.4,48.4,13.1,143,1599,0.00,2.40,0.00,0.000,6,0.000,0.032,3616,2408,2960
$GC,1788,2.82,65.4,21.5,14.0,159,1792,0.00,2.47,0.00,0.000,4,0.000,0.048,3616,1029,2960
$GC,1920,2.82,65.4,5.2,11.4,177,1926,0.00,2.40,0.00,0.000,6,0.000,0.032,3616,2417,2960
$GC,1994,2.89,122.8,4.0,-0.8,188,2043,0.00,0.00,42.25,0.538,6,0.000,0.000,3616,2417,2727
$STATE,2093,end climb,SURFACE_DEPTH_REACHED
$STATE,2093,begin surface coast
$FINISH,0.9,1.025539
$STATE,2167,end surface coast,CONTROL_FINISHED_OK
$STATE,2167,begin surface
$SM_CCo,2197,125.65,0.510,0,0,1597,400.08
$SM_GC,0.96,0.00,0.00,125.65,0.000,0.000,0.510,428,2512,1597,-11.83,0.34,400.08
$IRIDIUM_FIX,4722.92,-12249.11,270907,060622
$TT8_MAMPS,0.06903
$HUMID,1804
$INTERNAL_PRESSURE,9.36906
$TCM_TEMP,20.10
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,90.5,41.9
$24V_AH,24.0,13.610
$10V_AH,10.1,8.988
$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,31.525,34.650,142.050,125.650,0.000,37.358,33.531,151.853,2.250,34.470,2694.530,15.057,414.413,1126.765,362.591,394.247,392.416,0.000,611.746,0.000,397.169,0.000,13.014
$DEVICE_MAMPS,156.468,67.496,595.192,510.055,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,147.999,0.000,0.000,0.000,0.000,0.000,0.000,2729.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6471,215
$CFSIZE,260034560,252309504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,033231,4739.519,-12253.193,37,1.4,37,18.3