version: 66.02
glider: 118
mission: 6
dive: 182
start: 9 27 107 13 18 15
data:
$ID,118
$MISSION,6
$DIVE,182
$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,-17157.793
$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,38
$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
$GPS1,131135,4739.405,-12252.800,12,3.0,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-64.0
$GPS2,131757,4739.378,-12252.786,14,1.5,14,18.3
$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,52.9,507,-16.0,-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,-1.71,-95.3,0.0,0.0,0,76,0.00,0.00,-48.75,0.000,2,0.000,0.000,428,2516,2829
$GC,80,-1.75,-122.2,2.4,-3.9,8,129,12.23,2.62,-27.48,0.000,4,0.159,0.081,2613,3893,3730
$GC,144,-1.75,-122.2,5.8,-5.6,18,151,0.00,2.40,0.00,0.000,6,0.000,0.031,2613,2480,3731
$GC,217,-1.75,-122.2,10.8,-7.4,29,223,0.00,2.42,0.00,0.000,4,0.000,0.048,2614,1117,3732
$GC,282,-1.75,-122.2,15.4,-7.1,39,289,0.00,2.40,0.00,0.000,6,0.000,0.033,2614,2504,3732
$GC,355,-1.75,-122.2,20.2,-6.7,50,359,0.00,2.58,0.00,0.000,4,0.000,0.068,2614,3905,3733
$GC,366,-1.75,-122.2,21.1,-6.7,50,374,0.00,2.42,0.00,0.000,6,0.000,0.033,2614,2492,3733
$GC,564,-1.75,-122.2,35.4,-6.8,66,565,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2492,3734
$GC,754,-1.75,-122.2,48.8,-7.4,81,759,0.00,2.60,0.00,0.000,4,0.000,0.067,2613,3894,3734
$GC,845,-1.75,-122.2,56.6,-8.3,87,852,0.00,2.38,0.00,0.000,6,0.000,0.031,2614,2501,3734
$GC,1042,-1.75,-122.2,71.2,-7.1,103,1043,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2501,3734
$GC,1233,-1.75,-122.2,85.0,-7.0,118,1237,0.00,2.58,0.00,0.000,4,0.000,0.066,2613,3901,3734
$STATE,1300,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1300,begin apogee
$GC,1309,-0.50,0.0,90.2,7.4,122,1412,1.33,0.00,95.95,0.588,6,0.092,0.000,2884,2415,3228
$STATE,1413,end apogee,CONTROL_FINISHED_OK
$STATE,1413,begin climb
$GC,1416,1.75,122.2,92.3,0.0,131,1514,2.30,0.00,93.60,0.569,6,0.064,0.000,3378,2414,2729
$GC,1698,1.75,122.2,65.6,10.6,154,1702,0.00,2.50,0.00,0.000,4,0.000,0.051,3378,1024,2727
$GC,1762,1.75,122.2,58.1,11.5,158,1769,0.00,2.45,0.00,0.000,6,0.000,0.033,3378,2415,2727
$GC,1961,1.75,122.2,36.3,11.1,174,1962,0.00,0.00,0.00,0.000,6,0.000,0.000,3379,2414,2727
$GC,2150,1.75,122.2,15.3,11.0,192,2156,0.00,2.50,0.00,0.000,4,0.000,0.058,3378,1027,2727
$STATE,2313,end climb,SURFACE_DEPTH_REACHED
$STATE,2313,begin surface coast
$FINISH,1.3,1.025961
$STATE,2361,end surface coast,CONTROL_FINISHED_OK
$STATE,2361,begin surface
$SM_CCo,2390,137.55,0.517,1,0,1598,400.08
$SM_GC,0.85,0.00,0.00,137.55,0.000,0.000,0.517,429,2502,1598,-11.83,0.03,400.08
$IRIDIUM_FIX,4722.92,-12242.00,270907,161603
$TT8_MAMPS,0.067496
$HUMID,1809
$INTERNAL_PRESSURE,9.33976
$TCM_TEMP,17.60
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,90.2,44.7
$24V_AH,24.1,14.571
$10V_AH,10.1,9.789
$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,29.275,35.050,189.550,137.550,0.000,40.423,38.302,167.985,2.500,35.340,2976.660,14.741,423.586,1255.936,435.706,389.834,422.536,0.000,679.825,0.000,395.826,0.000,10.141
$DEVICE_MAMPS,158.769,81.302,588.289,516.958,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,154.608,0.000,0.000,0.000,0.000,0.000,0.000,3012.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6467,224
$CFSIZE,260034560,251944960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270907,140126,4739.479,-12252.347,14,2.0,14,18.3