version: 66.02
glider: 118
mission: 6
dive: 197
start: 9 28 107 2 17 50
data:
$ID,118
$MISSION,6
$DIVE,197
$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,-17184.801
$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,45
$R_STBD_OVSHOOT,29
$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
$GPS1,020745,4739.577,-12253.046,11,1.5,11,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-62.5
$GPS2,021733,4739.574,-12253.046,16,1.4,16,18.3
$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,206.1,278,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-2.78,-34.4,0.0,0.0,0,83,0.00,0.00,-54.67,0.000,2,0.000,0.000,429,2492,2951
$GC,87,-2.81,-59.0,2.1,-3.5,9,120,11.00,2.65,-16.05,0.000,4,0.161,0.076,2385,3893,3472
$GC,370,-2.83,-76.2,21.4,-4.4,50,379,0.00,2.40,-0.88,0.000,6,0.000,0.030,2385,2491,3543
$GC,566,-2.83,-76.2,34.6,-7.8,66,571,0.00,2.60,0.00,0.000,4,0.000,0.061,2385,3902,3546
$GC,824,-2.83,-76.2,59.1,-10.3,85,829,0.00,2.40,0.00,0.000,6,0.000,0.031,2385,2502,3546
$GC,1026,-2.83,-76.2,78.6,-9.8,101,1031,0.00,2.60,0.00,0.000,4,0.000,0.063,2385,3893,3546
$STATE,1139,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1139,begin apogee
$GC,1148,-0.50,0.0,90.4,10.7,109,1214,2.53,0.00,59.80,0.591,6,0.119,0.000,2888,2408,3228
$STATE,1215,end apogee,CONTROL_FINISHED_OK
$STATE,1215,begin climb
$GC,1218,2.83,76.2,92.9,0.0,115,1286,3.33,2.50,58.17,0.577,4,0.061,0.050,3617,1027,2916
$GC,1458,2.83,76.2,61.3,15.8,133,1463,0.00,2.42,0.00,0.000,6,0.000,0.033,3617,2407,2914
$GC,1660,2.83,76.2,30.1,15.4,149,1664,0.00,2.47,0.00,0.000,4,0.000,0.051,3618,1030,2914
$GC,1712,2.83,76.2,21.9,14.9,152,1718,0.00,2.42,0.00,0.000,6,0.000,0.033,3618,2413,2914
$STATE,1868,end climb,SURFACE_DEPTH_REACHED
$STATE,1868,begin surface coast
$FINISH,1.2,1.025685
$STATE,1883,end surface coast,CONTROL_FINISHED_OK
$STATE,1883,begin surface
$SM_CCo,1914,161.38,0.516,2,0,1598,400.08
$SM_GC,0.71,0.00,0.00,161.38,0.000,0.000,0.516,427,2508,1598,-11.84,0.23,400.08
$IRIDIUM_FIX,4722.92,-12249.11,280907,060656
$TT8_MAMPS,0.067496
$HUMID,1770
$INTERNAL_PRESSURE,9.33976
$TCM_TEMP,17.90
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,90.4,37.3
$24V_AH,24.0,15.646
$10V_AH,10.1,10.775
$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,31.575,25.200,117.975,161.375,0.000,78.145,77.905,230.096,3.500,16.600,2694.400,16.250,360.488,1028.564,366.697,381.005,550.371,0.000,594.079,0.000,371.247,0.000,14.637
$DEVICE_MAMPS,161.070,75.933,591.357,516.191,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,122.038,0.000,0.000,0.000,0.000,0.000,0.000,2711.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3317,177
$CFSIZE,260034560,251510784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,280907,025333,4739.653,-12253.129,12,1.3,12,18.3