version: 66.02
glider: 118
mission: 6
dive: 217
start: 9 28 107 19 35 49
data:
$ID,118
$MISSION,6
$DIVE,217
$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,-17175.584
$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,51
$R_STBD_OVSHOOT,26
$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
$GPS1,192731,4739.513,-12253.246,42,1.1,42,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-62.1
$GPS2,193532,4739.529,-12253.253,11,1.0,16,18.3
$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,77.9,1068,-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,26,-1.54,-122.2,0.0,0.0,0,88,0.00,0.00,-60.45,0.000,2,0.000,0.000,427,2503,3080
$GC,92,-1.54,-122.2,2.1,-3.5,10,135,12.55,2.55,-21.30,0.000,4,0.160,0.060,2660,1116,3730
$GC,289,-1.54,-122.2,15.6,-7.4,40,296,0.00,2.40,0.00,0.000,6,0.000,0.034,2659,2506,3732
$GC,368,-1.54,-122.2,21.1,-7.0,51,372,0.00,2.58,0.00,0.000,4,0.000,0.070,2659,3904,3732
$GC,414,-1.54,-122.2,24.5,-7.5,54,418,0.00,2.38,0.00,0.000,6,0.000,0.033,2659,2506,3733
$GC,609,-1.54,-122.2,37.8,-7.3,69,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2501,3734
$GC,800,-1.54,-122.2,51.6,-7.3,84,804,0.00,2.60,0.00,0.000,4,0.000,0.068,2659,3902,3734
$GC,891,-1.54,-122.2,58.3,-7.4,90,898,0.00,2.45,0.00,0.000,6,0.000,0.034,2659,2486,3733
$GC,1087,-1.54,-122.2,72.1,-7.1,106,1092,0.00,2.60,0.00,0.000,4,0.000,0.067,2659,3900,3733
$GC,1146,-1.54,-122.2,76.4,-7.3,110,1151,0.00,2.38,0.00,0.000,6,0.000,0.034,2659,2499,3733
$GC,1342,-1.54,-122.2,88.9,-6.8,125,1346,0.00,2.60,0.00,0.000,4,0.000,0.067,2660,3899,3733
$STATE,1364,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1364,begin apogee
$GC,1373,-0.50,0.0,90.5,7.4,126,1469,1.08,0.00,93.00,0.595,6,0.091,0.000,2882,2404,3229
$STATE,1470,end apogee,CONTROL_FINISHED_OK
$STATE,1470,begin climb
$GC,1473,1.54,122.2,93.8,0.0,134,1574,2.08,2.58,91.25,0.579,4,0.061,0.051,3331,1022,2730
$GC,1680,1.54,122.2,78.6,9.2,150,1687,0.00,2.45,0.00,0.000,6,0.000,0.034,3330,2413,2730
$GC,1877,1.54,122.2,61.9,8.5,166,1879,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2412,2729
$GC,2068,1.54,122.2,46.0,8.5,181,2069,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2413,2729
$GC,2257,1.54,122.2,30.5,8.2,196,2258,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,2413,2729
$GC,2448,1.54,122.2,14.4,8.2,216,2454,0.00,2.50,0.00,0.000,4,0.000,0.051,3331,1026,2729
$GC,2526,1.54,122.2,8.6,6.7,228,2533,0.00,2.42,0.00,0.000,6,0.000,0.035,3331,2423,2729
$GC,2599,1.57,147.8,4.2,5.7,239,2624,0.00,2.60,18.30,0.561,4,0.000,0.067,3331,3820,2625
$STATE,2641,end climb,SURFACE_DEPTH_REACHED
$STATE,2641,begin surface coast
$FINISH,0.2,1.026358
$STATE,2682,end surface coast,CONTROL_FINISHED_OK
$STATE,2682,begin surface
$SM_CCo,2711,121.15,0.522,0,0,1598,400.08
$SM_GC,0.78,0.00,0.00,121.15,0.000,0.000,0.522,427,2480,1598,-11.84,-0.57,400.08
$IRIDIUM_FIX,4722.92,-12203.03,280907,232343
$TT8_MAMPS,0.06903
$HUMID,1792
$INTERNAL_PRESSURE,9.33976
$TCM_TEMP,19.80
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,90.5,43.0
$24V_AH,24.1,17.168
$10V_AH,10.1,12.123
$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,28.750,40.000,202.550,121.150,0.000,79.801,54.876,148.043,2.500,16.600,3427.400,16.170,471.902,1518.366,412.280,455.760,466.243,0.000,699.611,0.000,459.335,0.000,10.135
$DEVICE_MAMPS,160.303,69.797,595.192,521.560,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,173.974,0.000,0.000,0.000,0.000,0.000,0.000,3444.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6446,252
$CFSIZE,260034560,250908672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,202356,4739.465,-12252.927,11,1.1,11,18.3