version: 66.02
glider: 118
mission: 6
dive: 207
start: 9 28 107 10 59 39
data:
$ID,118
$MISSION,6
$DIVE,207
$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,-17169.832
$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,48
$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
$GPS1,105314,4739.358,-12252.445,12,1.0,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-61.5
$GPS2,105921,4739.358,-12252.439,11,1.5,11,18.3
$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,355.0,206,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-2.78,-34.4,0.0,0.0,0,82,0.00,0.00,-54.70,0.000,2,0.000,0.000,423,2509,2935
$GC,86,-2.81,-62.7,2.0,-3.0,9,124,11.00,2.60,-17.70,0.000,4,0.160,0.077,2382,3891,3487
$GC,375,-2.81,-62.7,25.4,-7.3,48,379,0.00,2.38,0.00,0.000,6,0.000,0.030,2382,2486,3489
$GC,571,-2.81,-62.7,39.6,-8.0,63,575,0.00,2.40,0.00,0.000,4,0.000,0.046,2382,1120,3490
$GC,828,-2.81,-62.7,62.0,-9.1,82,832,0.00,2.38,0.00,0.000,6,0.000,0.032,2382,2503,3491
$GC,1024,-2.81,-62.7,80.0,-9.7,97,1028,0.00,2.45,0.00,0.000,4,0.000,0.044,2382,1114,3492
$STATE,1123,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1125,begin apogee
$GC,1133,-0.50,0.0,90.1,9.8,104,1188,2.53,0.00,48.72,0.598,6,0.117,0.000,2885,2419,3229
$STATE,1189,end apogee,CONTROL_FINISHED_OK
$STATE,1189,begin climb
$GC,1191,2.81,62.7,92.3,0.0,109,1248,3.33,0.00,47.40,0.586,6,0.055,0.000,3615,2418,2972
$GC,1437,2.81,62.7,64.5,13.2,129,1438,0.00,0.00,0.00,0.000,6,0.000,0.000,3615,2419,2971
$GC,1628,2.81,62.7,39.9,12.7,144,1629,0.00,0.00,0.00,0.000,6,0.000,0.000,3615,2419,2970
$GC,1816,2.81,62.7,16.3,11.8,161,1822,0.00,0.00,0.00,0.000,6,0.000,0.000,3615,2419,2971
$GC,1888,2.81,62.7,7.3,11.9,172,1894,0.00,0.00,0.00,0.000,6,0.000,0.000,3616,2419,2971
$GC,1962,2.84,88.8,3.5,3.3,183,1987,0.00,2.50,18.80,0.563,4,0.000,0.048,3615,1033,2865
$GC,2241,2.90,137.8,2.8,0.3,225,2273,0.00,2.40,26.27,0.549,6,0.000,0.033,3615,2420,2666
$STATE,2277,end climb,NO_VERTICAL_VELOCITY
$STATE,2277,begin surface
$SM_CCo,2286,238.02,0.503,0,0,540,659.61
$SM_GC,0.55,14.18,0.00,0.00,0.035,0.000,0.000,421,2504,540,-11.80,0.11,659.61
$IRIDIUM_FIX,4719.74,-12254.47,280907,141447
$TT8_MAMPS,0.067496
$HUMID,1807
$INTERNAL_PRESSURE,9.29093
$TCM_TEMP,18.00
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,65.9,999.0
$24V_AH,24.2,16.414
$10V_AH,10.1,11.452
$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,31.025,19.500,141.200,238.025,0.000,40.670,34.898,158.790,2.750,12.450,2863.550,11.741,431.270,1300.971,463.484,414.392,404.868,0.000,711.378,0.000,424.174,0.000,10.009
$DEVICE_MAMPS,160.303,77.467,598.260,503.152,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,159.044,0.000,0.000,0.000,0.000,0.000,0.000,2876.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6448,231
$CFSIZE,260034560,251207680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,114450,4739.371,-12252.490,13,1.8,31,18.3