version: 66.02
glider: 118
mission: 6
dive: 177
start: 9 27 107 9 12 8
data:
$ID,118
$MISSION,6
$DIVE,177
$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,-17142.385
$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,44
$R_STBD_OVSHOOT,30
$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
$GPS1,090305,4739.285,-12252.599,11,2.1,30,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-62.1
$GPS2,091151,4739.287,-12252.604,14,1.3,14,18.3
$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,18.7,418,-20.1,-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,25,-2.09,-62.3,0.0,0.0,0,94,0.00,0.00,-67.15,0.000,2,0.000,0.000,428,2513,3247
$GC,97,-2.14,-104.9,2.1,-3.6,11,129,11.77,2.53,-13.55,0.000,4,0.159,0.058,2531,1106,3657
$GC,379,-2.14,-104.9,25.7,-8.1,49,386,0.00,2.42,0.00,0.000,6,0.000,0.031,2531,2492,3661
$GC,576,-2.14,-104.9,42.0,-8.3,65,580,0.00,2.47,0.00,0.000,4,0.000,0.046,2531,1111,3661
$GC,622,-2.14,-104.9,45.8,-8.5,68,627,0.00,2.42,0.00,0.000,6,0.000,0.032,2531,2508,3662
$GC,817,-2.14,-104.9,62.5,-8.6,83,822,0.00,2.55,0.00,0.000,4,0.000,0.068,2531,3896,3661
$GC,851,-2.14,-104.9,65.6,-9.7,85,855,0.00,2.38,0.00,0.000,6,0.000,0.031,2531,2492,3662
$GC,1046,-2.14,-104.9,84.3,-9.6,100,1050,0.00,2.60,0.00,0.000,4,0.000,0.065,2531,3899,3662
$STATE,1106,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1106,begin apogee
$GC,1114,-0.50,0.0,90.2,10.2,104,1205,1.75,0.00,81.78,0.589,6,0.100,0.000,2889,2415,3228
$STATE,1206,end apogee,CONTROL_FINISHED_OK
$STATE,1206,begin climb
$GC,1209,2.14,104.9,93.1,0.0,112,1298,2.65,2.58,79.32,0.573,4,0.058,0.051,3463,1030,2801
$GC,1390,2.14,104.9,75.6,12.9,126,1397,0.00,2.42,0.00,0.000,6,0.000,0.032,3463,2410,2800
$GC,1587,2.14,104.9,50.7,12.7,142,1591,0.00,2.58,0.00,0.000,4,0.000,0.066,3463,3811,2799
$GC,1626,2.14,104.9,45.4,13.6,144,1633,0.00,2.38,0.00,0.000,6,0.000,0.030,3463,2418,2799
$GC,1822,2.14,104.9,20.6,12.5,160,1826,0.00,2.47,0.00,0.000,4,0.000,0.051,3463,1026,2800
$GC,1953,2.14,104.9,4.8,9.1,179,1960,0.00,2.40,0.00,0.000,6,0.000,0.032,3463,2416,2799
$STATE,2010,end climb,SURFACE_DEPTH_REACHED
$STATE,2010,begin surface coast
$FINISH,1.4,1.026059
$STATE,2057,end surface coast,CONTROL_FINISHED_OK
$STATE,2058,begin surface
$SM_CCo,2087,140.52,0.515,0,0,1598,400.08
$SM_GC,0.89,0.00,0.00,140.52,0.000,0.000,0.515,427,2511,1598,-11.84,0.31,400.08
$IRIDIUM_FIX,4722.92,-12251.79,270907,131312
$TT8_MAMPS,0.068263
$HUMID,1798
$INTERNAL_PRESSURE,9.34952
$TCM_TEMP,19.90
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,65.6,999.0
$24V_AH,23.7,14.184
$10V_AH,10.1,9.469
$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,30.125,34.925,161.100,140.525,0.000,74.865,113.671,144.781,2.000,34.470,2791.530,14.527,378.315,1127.328,393.096,373.670,492.548,0.000,629.927,0.000,371.597,0.000,7.135
$DEVICE_MAMPS,158.769,68.263,589.056,514.657,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,134.526,0.000,0.000,0.000,0.000,0.000,0.000,2826.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6437,195
$CFSIZE,260034560,252096512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,095009,4739.357,-12252.517,9,1.9,9,18.3