version: 66.02
glider: 118
mission: 6
dive: 204
start: 9 28 107 8 21 28
data:
$ID,118
$MISSION,6
$DIVE,204
$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,-17193.504
$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,33
$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
$GPS1,081525,4739.513,-12253.108,30,1.3,40,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-55.9
$GPS2,082109,4739.520,-12253.160,14,1.3,14,18.3
$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,77.7,951,-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,25,-1.54,-122.2,0.0,0.0,0,131,0.00,0.00,-102.53,0.000,2,0.000,0.000,426,2513,3083
$GC,136,-1.54,-122.2,2.3,-3.9,17,173,12.30,2.60,-19.12,0.000,4,0.153,0.079,2655,3890,3728
$GC,233,-1.54,-122.2,9.0,-7.6,32,239,0.00,2.38,0.00,0.000,6,0.000,0.031,2657,2485,3730
$GC,305,-1.54,-122.2,14.0,-6.7,43,312,0.00,2.40,0.00,0.000,4,0.000,0.046,2655,1123,3731
$GC,416,-1.54,-122.2,20.6,-5.7,59,423,0.00,2.40,0.00,0.000,6,0.000,0.031,2655,2496,3737
$GC,615,-1.54,-122.2,32.1,-6.4,75,619,0.00,2.58,0.00,0.000,4,0.000,0.067,2656,3899,3739
$GC,661,-1.54,-122.2,35.3,-6.6,78,665,0.00,2.38,0.00,0.000,6,0.000,0.031,2655,2496,3740
$GC,856,-1.54,-122.2,48.6,-7.0,93,857,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2492,3739
$GC,1050,-1.54,-122.2,61.1,-6.4,108,1054,0.00,2.60,0.00,0.000,4,0.000,0.067,2656,3898,3739
$GC,1181,-1.54,-122.2,70.2,-6.7,117,1188,0.00,2.47,0.00,0.000,6,0.000,0.032,2656,2499,3740
$GC,1377,-1.54,-122.2,81.6,-5.5,133,1382,0.00,2.60,0.00,0.000,4,0.000,0.067,2655,3905,3740
$GC,1489,-1.54,-122.2,88.5,-6.9,141,1493,0.00,2.40,0.00,0.000,6,0.000,0.034,2655,2488,3740
$STATE,1521,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1521,begin apogee
$GC,1527,-0.50,0.0,90.3,6.1,143,1630,1.10,0.00,97.47,0.579,6,0.095,0.000,2881,2420,3230
$STATE,1631,end apogee,CONTROL_FINISHED_OK
$STATE,1631,begin climb
$GC,1634,1.54,122.2,91.9,0.0,152,1732,2.08,0.00,92.62,0.572,6,0.061,0.000,3331,2419,2730
$GC,1916,1.54,122.2,68.6,9.9,175,1920,0.00,2.60,0.00,0.000,4,0.000,0.064,3332,3815,2735
$GC,1955,1.54,122.2,64.6,10.2,177,1961,0.00,2.40,0.00,0.000,6,0.000,0.031,3331,2418,2735
$GC,2150,1.54,122.2,46.6,9.4,193,2151,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2418,2737
$GC,2341,1.54,122.2,29.1,9.1,208,2342,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,2418,2737
$GC,2532,1.54,122.2,12.8,8.9,229,2539,0.00,2.50,0.00,0.000,4,0.000,0.051,3331,1014,2737
$GC,2691,1.56,143.3,2.5,5.9,253,2704,0.00,2.42,8.52,0.571,2,0.000,0.034,3333,2420,2680
$STATE,2705,end climb,SURFACE_DEPTH_REACHED
$STATE,2705,begin surface coast
$FINISH,1.1,1.026033
$STATE,2736,end surface coast,CONTROL_FINISHED_OK
$STATE,2736,begin surface
$SM_CCo,2765,126.20,0.522,0,0,1598,400.08
$SM_GC,0.66,0.00,0.00,126.20,0.000,0.000,0.522,426,2503,1598,-11.84,0.11,400.08
$IRIDIUM_FIX,4722.92,-12256.21,280907,111146
$TT8_MAMPS,0.067496
$HUMID,1807
$INTERNAL_PRESSURE,9.34952
$TCM_TEMP,19.90
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,90.3,48.4
$24V_AH,24.1,16.189
$10V_AH,10.1,11.259
$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,28.675,34.925,198.625,126.200,0.000,37.527,31.909,141.182,2.500,24.910,3553.090,14.141,476.306,1469.056,448.969,456.937,397.781,0.000,737.737,0.000,466.961,0.000,10.153
$DEVICE_MAMPS,152.633,83.603,579.085,522.327,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,179.066,0.000,0.000,0.000,0.000,0.000,0.000,3578.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6426,260
$CFSIZE,260034560,251289600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,091038,4739.363,-12252.892,8,1.5,14,18.3