version: 66.02
glider: 118
mission: 6
dive: 199
start: 9 28 107 3 56 39
data:
$ID,118
$MISSION,6
$DIVE,199
$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,-17194.566
$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,27
$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
$GPS1,034721,4739.565,-12253.066,11,1.8,11,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-61.1
$GPS2,035622,4739.539,-12253.091,12,2.1,31,18.3
$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,80.6,870,-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,27,-1.54,-122.2,0.0,0.0,0,89,0.00,0.00,-59.12,0.000,2,0.000,0.000,426,2500,3076
$GC,92,-1.54,-122.2,2.1,-4.1,10,136,12.38,2.53,-21.55,0.000,4,0.154,0.058,2659,1116,3729
$GC,327,-1.54,-122.2,15.4,-5.5,46,334,0.00,2.40,0.00,0.000,6,0.000,0.032,2659,2506,3732
$GC,400,-1.54,-122.2,19.3,-5.5,57,406,0.00,2.58,0.00,0.000,4,0.000,0.068,2660,3901,3733
$GC,466,-1.54,-122.2,23.3,-6.6,63,470,0.00,2.38,0.00,0.000,6,0.000,0.031,2659,2500,3733
$GC,662,-1.54,-122.2,34.2,-5.9,78,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2495,3734
$GC,852,-1.54,-122.2,45.9,-6.4,93,857,0.00,2.60,0.00,0.000,4,0.000,0.067,2659,3898,3734
$GC,931,-1.54,-122.2,51.3,-7.0,98,937,0.00,2.38,0.00,0.000,6,0.000,0.031,2659,2483,3734
$GC,1127,-1.54,-122.2,63.8,-6.4,114,1131,0.00,2.60,0.00,0.000,4,0.000,0.066,2659,3897,3734
$GC,1218,-1.54,-122.2,69.9,-6.6,120,1226,0.00,2.35,0.00,0.000,6,0.000,0.032,2659,2497,3734
$GC,1414,-1.54,-122.2,81.9,-6.1,136,1419,0.00,2.58,0.00,0.000,4,0.000,0.066,2659,3901,3735
$GC,1514,-1.54,-122.2,88.1,-6.0,143,1518,0.00,2.38,0.00,0.000,6,0.000,0.034,2659,2503,3734
$STATE,1558,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1558,begin apogee
$GC,1564,-0.50,0.0,90.7,5.7,146,1667,1.10,0.00,95.07,0.591,6,0.090,0.000,2887,2415,3228
$STATE,1668,end apogee,CONTROL_FINISHED_OK
$STATE,1668,begin climb
$GC,1671,1.54,122.2,92.6,0.0,155,1777,2.08,2.58,92.60,0.572,4,0.064,0.051,3332,1026,2729
$GC,1805,1.54,122.2,83.6,10.1,166,1809,0.00,2.42,0.00,0.000,6,0.000,0.033,3332,2417,2729
$GC,2000,1.54,122.2,64.9,10.1,181,2005,0.00,2.60,0.00,0.000,4,0.000,0.067,3332,3816,2728
$GC,2045,1.54,122.2,60.1,10.5,184,2053,0.00,2.40,0.00,0.000,6,0.000,0.031,3332,2426,2728
$GC,2241,1.54,122.2,41.3,9.4,200,2245,0.00,2.50,0.00,0.000,4,0.000,0.051,3332,1021,2728
$GC,2313,1.54,122.2,34.2,10.0,205,2318,0.00,2.45,0.00,0.000,6,0.000,0.033,3332,2419,2728
$GC,2511,1.54,122.2,15.6,9.1,224,2516,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2419,2728
$GC,2583,1.54,122.2,9.3,8.6,235,2588,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2419,2728
$GC,2655,1.59,163.3,4.5,5.2,246,2692,0.00,2.55,29.77,0.546,4,0.000,0.050,3332,1022,2562
$STATE,2743,end climb,SURFACE_DEPTH_REACHED
$STATE,2744,begin surface coast
$FINISH,-0.0,1.015805
$STATE,2823,end surface coast,CONTROL_FINISHED_OK
$STATE,2823,begin surface
$SM_CCo,2854,115.68,0.518,1,0,1597,400.08
$SM_GC,0.70,0.00,0.00,115.68,0.000,0.000,0.518,426,2510,1597,-11.84,0.28,400.08
$IRIDIUM_FIX,4719.74,-12251.79,280907,070730
$TT8_MAMPS,0.067496
$HUMID,1794
$INTERNAL_PRESSURE,9.35929
$TCM_TEMP,19.90
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,90.7,41.1
$24V_AH,24.1,15.804
$10V_AH,10.1,10.921
$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,28.450,44.975,217.450,115.675,0.000,79.446,112.493,136.883,3.250,16.610,3586.390,32.839,502.497,1545.033,439.882,515.479,526.574,0.000,754.790,0.000,504.587,0.000,10.145
$DEVICE_MAMPS,154.167,69.797,590.590,518.492,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,187.422,0.000,0.000,0.000,0.000,0.000,0.000,3603.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6474,272
$CFSIZE,260034560,251432960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,280907,044757,4739.521,-12252.624,37,2.7,56,18.3