version: 66.02
glider: 118
mission: 6
dive: 206
start: 9 28 107 10 13 3
data:
$ID,118
$MISSION,6
$DIVE,206
$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,-17176.166
$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,50
$R_STBD_OVSHOOT,31
$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
$GPS1,100634,4739.319,-12252.652,15,3.1,34,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-61.9
$GPS2,101245,4739.325,-12252.674,14,1.3,14,18.3
$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,34.0,429,-19.5,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-2.03,-66.0,0.0,0.0,0,82,0.00,0.00,-54.67,0.000,2,0.000,0.000,427,2504,2937
$GC,86,-2.09,-114.3,2.0,-3.4,9,130,11.77,2.60,-24.52,0.000,4,0.157,0.081,2538,3901,3696
$GC,321,-2.09,-114.3,23.4,-9.4,43,325,0.00,2.38,0.00,0.000,6,0.000,0.031,2538,2500,3699
$GC,517,-2.09,-114.3,41.1,-9.1,58,521,0.00,2.58,0.00,0.000,4,0.000,0.065,2538,3893,3700
$GC,608,-2.09,-114.3,50.6,-10.8,64,616,0.00,2.40,0.00,0.000,6,0.000,0.031,2538,2497,3701
$GC,804,-2.09,-114.3,69.5,-9.3,80,809,0.00,2.58,0.00,0.000,4,0.000,0.065,2538,3892,3701
$GC,882,-2.09,-114.3,77.1,-9.4,85,889,0.00,2.40,0.00,0.000,6,0.000,0.032,2538,2497,3701
$STATE,1030,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1030,begin apogee
$GC,1037,-0.50,0.0,90.9,9.8,97,1129,1.70,0.00,87.62,0.593,6,0.098,0.000,2883,2412,3229
$STATE,1130,end apogee,CONTROL_FINISHED_OK
$STATE,1130,begin climb
$GC,1133,2.09,114.3,94.2,0.0,105,1231,2.62,2.58,85.62,0.576,4,0.060,0.051,3450,1036,2763
$GC,1344,2.09,114.3,72.6,13.1,121,1352,0.00,2.42,0.00,0.000,6,0.000,0.032,3451,2414,2762
$GC,1541,2.09,114.3,47.9,12.6,137,1542,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2414,2762
$GC,1732,2.09,114.3,24.6,12.3,152,1736,0.00,2.50,0.00,0.000,4,0.000,0.050,3450,1025,2762
$GC,1890,2.09,114.3,5.3,10.1,172,1896,0.00,2.40,0.00,0.000,6,0.000,0.033,3450,2415,2762
$GC,1963,2.17,174.5,2.1,2.6,183,1988,0.00,0.00,23.33,0.548,2,0.000,0.000,3450,2415,2579
$STATE,1989,end climb,SURFACE_DEPTH_REACHED
$STATE,1989,begin surface coast
$FINISH,0.0,1.003023
$STATE,2198,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2198,begin surface
$SM_CCo,2227,108.93,0.520,0,0,1598,400.08
$SM_GC,0.72,0.00,0.00,108.93,0.000,0.000,0.520,422,2509,1598,-11.86,0.25,400.08
$IRIDIUM_FIX,4722.92,-12256.21,280907,131348
$TT8_MAMPS,0.067496
$HUMID,1818
$INTERNAL_PRESSURE,9.36906
$TCM_TEMP,19.90
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,90.9,48.3
$24V_AH,24.1,16.335
$10V_AH,10.1,11.389
$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,29.600,25.075,196.575,108.925,0.000,32.784,49.318,152.879,4.250,12.450,2806.550,14.898,405.474,1118.389,379.023,411.420,406.320,0.000,636.836,0.000,408.492,0.000,11.782
$DEVICE_MAMPS,157.235,80.535,592.891,520.026,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,150.921,0.000,0.000,0.000,0.000,0.000,0.000,2819.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6439,219
$CFSIZE,260034560,251240448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,105314,4739.358,-12252.445,12,1.0,29,18.3