version: 66.02
glider: 118
mission: 6
dive: 171
start: 9 27 107 3 38 33
data:
$ID,118
$MISSION,6
$DIVE,171
$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,-17165.586
$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,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
$GPS1,033231,4739.519,-12253.193,37,1.4,37,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-62.6
$GPS2,033815,4739.530,-12253.209,16,1.2,16,18.3
$SPEED_LIMITS,0.115,0.209
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$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,78.3,1014,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.54,-122.2,0.0,0.0,0,77,0.00,0.00,-49.25,0.000,2,0.000,0.000,428,2512,2851
$GC,80,-1.54,-122.2,2.1,-3.2,8,131,12.35,2.62,-32.38,0.000,4,0.153,0.081,2661,3892,3729
$GC,210,-1.54,-122.2,9.4,-6.9,28,216,0.00,2.38,0.00,0.000,6,0.000,0.031,2661,2501,3730
$GC,282,-1.54,-122.2,14.1,-6.6,39,288,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2496,3731
$GC,355,-1.54,-122.2,18.9,-6.7,50,362,0.00,2.58,0.00,0.000,4,0.000,0.066,2661,3895,3731
$GC,413,-1.54,-122.2,22.8,-6.4,56,420,0.00,2.40,0.00,0.000,6,0.000,0.031,2661,2477,3731
$GC,610,-1.54,-122.2,35.0,-6.5,72,615,0.00,2.65,0.00,0.000,4,0.000,0.065,2661,3890,3732
$GC,715,-1.54,-122.2,42.3,-7.2,80,720,0.00,2.38,0.00,0.000,6,0.000,0.032,2661,2507,3733
$GC,917,-1.54,-122.2,55.3,-6.1,96,921,0.00,2.58,0.00,0.000,4,0.000,0.066,2663,3900,3733
$GC,1008,-1.54,-122.2,61.7,-7.1,102,1015,0.00,2.40,0.00,0.000,6,0.000,0.032,2661,2499,3733
$GC,1205,-1.54,-122.2,74.5,-6.5,118,1209,0.00,2.58,0.00,0.000,4,0.000,0.066,2661,3893,3733
$GC,1294,-1.54,-122.2,80.5,-7.0,124,1298,0.00,2.38,0.00,0.000,6,0.000,0.033,2661,2505,3733
$STATE,1443,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1443,begin apogee
$GC,1449,-0.50,0.0,90.2,6.4,135,1552,1.08,0.00,94.32,0.588,6,0.092,0.000,2883,2418,3228
$STATE,1553,end apogee,CONTROL_FINISHED_OK
$STATE,1553,begin climb
$GC,1556,1.54,122.2,92.7,0.0,144,1657,2.08,2.58,91.82,0.571,4,0.061,0.051,3335,1031,2729
$GC,1724,1.54,122.2,80.9,8.8,157,1731,0.00,2.40,0.00,0.000,6,0.000,0.032,3334,2412,2728
$GC,1920,1.54,122.2,63.0,8.9,173,1924,0.00,2.58,0.00,0.000,4,0.000,0.066,3334,3815,2728
$GC,1971,1.54,122.2,57.7,10.3,176,1978,0.00,2.42,0.00,0.000,6,0.000,0.030,3334,2420,2728
$GC,2168,1.54,122.2,39.6,9.1,192,2169,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2421,2728
$GC,2359,1.54,122.2,22.2,8.9,207,2363,0.00,2.58,0.00,0.000,4,0.000,0.064,3335,3814,2728
$GC,2383,1.54,122.2,19.6,9.5,208,2391,0.00,2.45,0.00,0.000,6,0.000,0.031,3334,2412,2728
$GC,2591,1.57,146.4,3.8,5.8,239,2615,0.00,2.53,17.10,0.558,4,0.000,0.054,3334,1017,2631
$STATE,2646,end climb,SURFACE_DEPTH_REACHED
$STATE,2646,begin surface coast
$FINISH,0.1,1.006577
$STATE,2707,end surface coast,CONTROL_FINISHED_OK
$STATE,2707,begin surface
$SM_CCo,2737,121.85,0.518,0,0,1598,400.08
$SM_GC,0.92,0.00,0.00,121.85,0.000,0.000,0.518,427,2499,1598,-11.84,-0.03,400.08
$IRIDIUM_FIX,4722.92,-12256.21,270907,060619
$TT8_MAMPS,0.067496
$HUMID,1798
$INTERNAL_PRESSURE,9.35929
$TCM_TEMP,19.90
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,65.4,999.0
$24V_AH,23.5,13.690
$10V_AH,10.1,9.058
$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,28.500,45.175,203.250,121.850,0.000,38.406,35.209,135.307,3.000,41.240,3261.760,16.072,482.478,1431.387,421.755,480.945,400.203,0.000,728.091,0.000,484.868,0.000,10.000
$DEVICE_MAMPS,153.400,81.302,587.522,518.492,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,177.218,0.000,0.000,0.000,0.000,0.000,0.000,3303.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6444,257
$CFSIZE,260034560,252272640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,042728,4739.492,-12252.770,10,2.4,29,18.3