version: 66.02
glider: 118
mission: 6
dive: 222
start: 9 29 107 0 14 5
data:
$ID,118
$MISSION,6
$DIVE,222
$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,-17165.484
$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,37
$R_STBD_OVSHOOT,28
$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
$GPS1,000721,4739.478,-12252.854,12,1.7,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-60.5
$GPS2,001347,4739.470,-12252.829,14,2.1,33,18.3
$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,250.9,465,-17.7,-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,-1.87,-78.8,0.0,0.0,0,95,0.00,0.00,-67.20,0.000,2,0.000,0.000,429,2507,3228
$GC,98,-1.92,-122.2,2.1,-3.4,11,135,12.00,2.62,-16.20,0.000,4,0.159,0.082,2575,3895,3729
$GC,195,-1.92,-122.2,9.3,-8.7,26,201,0.00,2.40,0.00,0.000,6,0.000,0.033,2575,2485,3731
$GC,267,-1.92,-122.2,15.9,-9.4,37,274,0.00,2.60,0.00,0.000,4,0.000,0.067,2575,3894,3731
$GC,325,-1.92,-122.2,21.3,-9.0,45,332,0.00,2.40,0.00,0.000,6,0.000,0.034,2574,2497,3732
$GC,521,-1.92,-122.2,38.3,-8.4,61,523,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2497,3732
$GC,713,-1.92,-122.2,55.2,-9.0,76,717,0.00,2.58,0.00,0.000,4,0.000,0.067,2575,3895,3733
$GC,759,-1.92,-122.2,59.8,-9.8,79,763,0.00,2.38,0.00,0.000,6,0.000,0.033,2575,2501,3733
$GC,957,-1.92,-122.2,76.7,-8.6,94,961,0.00,2.58,0.00,0.000,4,0.000,0.067,2575,3895,3733
$GC,1029,-1.92,-122.2,83.5,-9.2,99,1033,0.00,2.38,0.00,0.000,6,0.000,0.034,2575,2500,3733
$STATE,1114,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1114,begin apogee
$GC,1120,-0.50,0.0,90.7,8.9,105,1223,1.52,0.00,94.10,0.589,6,0.097,0.000,2886,2413,3228
$STATE,1224,end apogee,CONTROL_FINISHED_OK
$STATE,1224,begin climb
$GC,1227,1.92,122.2,93.4,0.0,114,1328,2.47,2.55,91.88,0.571,4,0.064,0.051,3419,1037,2729
$GC,1363,1.92,122.2,83.0,11.9,125,1367,0.00,2.40,0.00,0.000,6,0.000,0.034,3419,2415,2729
$GC,1561,1.92,122.2,59.8,11.5,140,1565,0.00,2.50,0.00,0.000,4,0.000,0.050,3419,1029,2729
$GC,1593,1.92,122.2,55.7,12.0,142,1598,0.00,2.42,0.00,0.000,6,0.000,0.034,3419,2409,2729
$GC,1795,1.92,122.2,32.7,11.3,158,1799,0.00,2.47,0.00,0.000,4,0.000,0.050,3419,1035,2729
$GC,1881,1.92,122.2,22.6,11.2,164,1885,0.00,2.40,0.00,0.000,6,0.000,0.034,3419,2418,2729
$STATE,2076,end climb,SURFACE_DEPTH_REACHED
$STATE,2076,begin surface coast
$FINISH,0.6,1.026416
$STATE,2098,end surface coast,CONTROL_FINISHED_OK
$STATE,2098,begin surface
$SM_CCo,2125,132.77,0.517,0,0,1597,400.08
$SM_GC,0.81,0.00,0.00,132.77,0.000,0.000,0.517,425,2511,1597,-11.84,0.28,400.08
$IRIDIUM_FIX,4722.92,-12253.53,290907,030311
$TT8_MAMPS,0.067496
$HUMID,1788
$INTERNAL_PRESSURE,9.32999
$TCM_TEMP,20.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,90.7,50.2
$24V_AH,24.1,17.554
$10V_AH,10.1,12.467
$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,29.375,34.925,185.975,132.775,0.000,38.870,37.399,153.847,1.500,4.150,2709.850,34.535,380.606,1083.890,402.778,390.854,397.867,0.000,649.075,0.000,370.081,0.000,10.156
$DEVICE_MAMPS,158.769,82.069,589.056,516.958,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,133.920,0.000,0.000,0.000,0.000,0.000,0.000,2714.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6449,194
$CFSIZE,260034560,250765312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,005259,4739.497,-12253.210,12,3.4,31,18.3