version: 66.02
glider: 118
mission: 6
dive: 187
start: 9 27 107 17 41 37
data:
$ID,118
$MISSION,6
$DIVE,187
$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,-17164.662
$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,28
$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
$GPS1,173136,4739.468,-12252.647,13,4.8,32,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-63.4
$GPS2,174120,4739.444,-12252.690,10,1.5,15,18.3
$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,65.1,363,-23.5,-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,26,-2.40,-46.4,0.0,0.0,0,81,0.00,0.00,-52.92,0.000,2,0.000,0.000,426,2499,2917
$GC,85,-2.44,-77.4,2.2,-3.7,9,123,11.40,2.47,-20.12,0.000,4,0.158,0.057,2462,1106,3543
$GC,130,-2.47,-99.5,4.7,-4.5,16,137,0.00,2.42,-2.47,0.000,6,0.000,0.032,2463,2509,3636
$GC,203,-2.47,-99.5,11.9,-9.9,27,209,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2509,3639
$GC,275,-2.47,-99.5,18.0,-7.6,38,280,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2509,3639
$GC,345,-2.47,-99.5,23.6,-8.0,46,349,0.00,2.50,0.00,0.000,4,0.000,0.045,2462,1099,3640
$GC,396,-2.47,-99.5,28.7,-10.0,49,403,0.00,2.45,0.00,0.000,6,0.000,0.031,2463,2505,3640
$GC,593,-2.47,-99.5,46.2,-9.3,65,594,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2505,3641
$GC,784,-2.47,-99.5,65.1,-10.1,80,789,0.00,2.55,0.00,0.000,4,0.000,0.068,2462,3893,3641
$GC,862,-2.47,-99.5,74.1,-11.3,85,869,0.00,2.40,0.00,0.000,6,0.000,0.031,2462,2484,3641
$STATE,1025,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1025,begin apogee
$GC,1032,-0.50,0.0,90.3,10.5,98,1115,2.08,0.00,78.47,0.588,6,0.102,0.000,2887,2418,3229
$STATE,1116,end apogee,CONTROL_FINISHED_OK
$STATE,1116,begin climb
$GC,1119,2.47,99.5,92.6,0.0,105,1205,2.95,2.60,76.62,0.572,4,0.058,0.050,3535,1024,2823
$GC,1271,2.47,99.5,75.7,15.4,117,1276,0.00,2.42,0.00,0.000,6,0.000,0.033,3535,2416,2821
$GC,1466,2.47,99.5,46.8,14.7,132,1471,0.00,2.50,0.00,0.000,4,0.000,0.050,3535,1028,2821
$GC,1552,2.47,99.5,33.9,15.2,138,1556,0.00,2.40,0.00,0.000,6,0.000,0.033,3535,2414,2820
$GC,1752,2.47,99.5,6.3,12.2,160,1758,0.00,2.50,0.00,0.000,4,0.000,0.051,3535,1023,2822
$STATE,1802,end climb,SURFACE_DEPTH_REACHED
$STATE,1802,begin surface coast
$FINISH,1.1,1.025532
$STATE,1831,end surface coast,CONTROL_FINISHED_OK
$STATE,1831,begin surface
$SM_CCo,1861,153.75,0.515,1,0,1598,400.08
$SM_GC,0.83,0.00,0.00,153.75,0.000,0.000,0.515,424,2511,1598,-11.85,0.31,400.08
$IRIDIUM_FIX,4722.92,-12244.69,270907,212145
$TT8_MAMPS,0.067496
$HUMID,1766
$INTERNAL_PRESSURE,9.34952
$TCM_TEMP,19.90
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,90.3,43.2
$24V_AH,24.1,14.944
$10V_AH,10.1,10.115
$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,30.725,29.925,155.100,153.750,0.000,76.152,144.992,165.664,2.750,0.000,2662.000,15.582,341.557,990.065,401.461,338.989,543.127,0.000,621.114,0.000,328.022,0.000,14.980
$DEVICE_MAMPS,158.002,81.302,588.289,514.657,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,118.620,0.000,0.000,0.000,0.000,0.000,0.000,2662.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3307,172
$CFSIZE,260034560,251801600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270907,181615,4739.459,-12252.384,14,1.8,14,18.3