version: 66.02
glider: 118
mission: 6
dive: 203
start: 9 28 107 7 29 8
data:
$ID,118
$MISSION,6
$DIVE,203
$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,-17199.785
$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,42
$R_STBD_OVSHOOT,39
$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
$GPS1,072237,4739.442,-12252.911,14,1.4,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-59.5
$GPS2,072850,4739.428,-12252.954,15,1.5,20,18.3
$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,264.7,318,-26.9,-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,25,-2.73,-35.7,0.0,0.0,0,88,0.00,0.00,-60.67,0.000,2,0.000,0.000,425,2516,3094
$GC,92,-2.75,-54.0,2.4,-4.4,10,118,11.10,2.58,-9.62,0.000,4,0.162,0.058,2394,1104,3451
$GC,144,-2.75,-54.0,8.3,-9.5,18,150,0.00,2.40,0.00,0.000,6,0.000,0.031,2394,2493,3453
$GC,217,-2.75,-54.0,14.5,-7.6,29,223,0.00,2.58,0.00,0.000,4,0.000,0.067,2394,3898,3454
$GC,474,-2.76,-59.7,28.8,-6.0,56,481,0.00,2.38,-0.22,0.000,6,0.000,0.031,2394,2489,3474
$GC,670,-2.76,-59.7,41.5,-6.7,72,674,0.00,2.60,0.00,0.000,4,0.000,0.064,2394,3901,3476
$GC,927,-2.76,-59.7,61.3,-7.7,91,932,0.00,2.38,0.00,0.000,6,0.000,0.032,2394,2496,3476
$GC,1125,-2.76,-59.7,75.7,-7.4,106,1129,0.00,2.58,0.00,0.000,4,0.000,0.064,2394,3893,3477
$STATE,1315,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1315,begin apogee
$GC,1323,-0.50,0.0,90.6,8.1,120,1378,2.50,0.00,46.72,0.598,6,0.116,0.000,2886,2406,3228
$STATE,1379,end apogee,CONTROL_FINISHED_OK
$STATE,1379,begin climb
$GC,1381,2.76,59.7,91.9,0.0,125,1435,3.25,2.50,45.03,0.585,4,0.058,0.049,3606,1027,2984
$GC,1687,2.76,59.7,52.0,14.6,148,1691,0.00,2.42,0.00,0.000,6,0.000,0.033,3606,2418,2983
$GC,1882,2.76,59.7,25.5,13.5,163,1886,0.00,2.50,0.00,0.000,4,0.000,0.050,3606,1021,2983
$GC,1928,2.76,59.7,19.0,13.5,166,1934,0.00,2.42,0.00,0.000,6,0.000,0.034,3606,2419,2983
$GC,2000,2.76,59.7,10.4,11.9,177,2006,0.00,2.50,0.00,0.000,4,0.000,0.049,3606,1023,2983
$GC,2012,2.76,59.7,8.6,12.7,179,2020,0.00,2.45,0.00,0.000,6,0.000,0.034,3607,2419,2983
$GC,2086,2.80,89.9,4.5,2.9,190,2117,0.00,2.58,22.00,0.554,4,0.000,0.048,3606,1023,2861
$GC,2284,2.86,143.3,3.8,-0.0,220,2298,0.00,2.40,8.62,0.574,2,0.000,0.032,3606,2417,2812
$STATE,2299,end climb,NO_VERTICAL_VELOCITY
$STATE,2299,begin surface
$SM_CCo,2308,270.83,0.502,0,0,541,659.61
$SM_GC,0.66,14.15,0.00,0.00,0.035,0.000,0.000,426,2513,540,-11.79,0.37,659.61
$IRIDIUM_FIX,4722.92,-12256.21,280907,101007
$TT8_MAMPS,0.067496
$HUMID,1800
$INTERNAL_PRESSURE,9.30069
$TCM_TEMP,20.00
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,80.4,52.0
$24V_AH,24.2,16.113
$10V_AH,10.1,11.185
$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,31.000,40.000,122.375,270.825,0.000,40.026,34.071,157.514,2.750,20.750,2879.250,20.413,442.554,1256.910,490.643,480.959,407.103,0.000,767.557,0.000,464.569,0.000,8.622
$DEVICE_MAMPS,161.837,66.729,598.260,501.618,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,152.919,0.000,0.000,0.000,0.000,0.000,0.000,2900.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6458,222
$CFSIZE,260034560,251322368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,081525,4739.513,-12253.108,30,1.3,40,18.3