version: 66.02
glider: 118
mission: 6
dive: 230
start: 9 29 107 6 50 32
data:
$ID,118
$MISSION,6
$DIVE,230
$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,-17152.436
$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,53
$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
$GPS1,064414,4739.548,-12253.241,8,1.2,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-63.5
$GPS2,065014,4739.579,-12253.268,15,1.2,15,18.3
$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,140.3,224,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-2.78,-34.4,0.0,0.0,0,84,0.00,0.00,-55.15,0.000,2,0.000,0.000,429,2506,2977
$GC,87,-2.81,-59.5,2.0,-3.4,9,120,10.90,0.00,-17.90,0.000,6,0.159,0.000,2381,2506,3472
$GC,185,-2.81,-59.5,10.8,-14.3,24,191,0.00,2.58,0.00,0.000,4,0.000,0.068,2381,3900,3475
$GC,270,-2.81,-59.5,18.0,-8.3,37,277,0.00,2.38,0.00,0.000,6,0.000,0.031,2382,2494,3475
$GC,341,-2.81,-59.5,23.5,-8.1,45,342,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2494,3476
$GC,534,-2.81,-59.5,38.6,-7.6,60,538,0.00,2.42,0.00,0.000,4,0.000,0.047,2382,1113,3476
$GC,574,-2.81,-59.5,42.3,-8.4,62,581,0.00,2.38,0.00,0.000,6,0.000,0.032,2385,2497,3476
$GC,770,-2.81,-59.5,59.6,-8.7,78,774,0.00,2.55,0.00,0.000,4,0.000,0.067,2382,3896,3476
$GC,888,-2.81,-59.5,70.9,-9.7,86,894,0.00,2.35,0.00,0.000,6,0.000,0.031,2382,2496,3476
$GC,1083,-2.81,-59.5,88.9,-8.9,102,1087,0.00,2.58,0.00,0.000,4,0.000,0.064,2382,3895,3476
$STATE,1098,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1098,begin apogee
$GC,1106,-0.50,0.0,90.1,8.8,102,1161,2.55,0.00,46.20,0.599,6,0.114,0.000,2885,2412,3228
$STATE,1162,end apogee,CONTROL_FINISHED_OK
$STATE,1162,begin climb
$GC,1165,2.81,59.5,92.4,0.0,107,1218,3.30,2.53,44.35,0.588,4,0.057,0.050,3617,1028,2986
$GC,1303,2.81,59.5,78.7,13.6,117,1310,0.00,2.42,0.00,0.000,6,0.000,0.032,3617,2407,2985
$GC,1502,2.81,59.5,52.2,13.0,133,1503,0.00,0.00,0.00,0.000,6,0.000,0.000,3617,2407,2984
$GC,1691,2.81,59.5,27.9,12.6,148,1695,0.00,2.58,0.00,0.000,4,0.000,0.066,3617,3812,2984
$GC,1710,2.81,59.5,25.3,12.2,149,1715,0.00,2.40,0.00,0.000,6,0.000,0.030,3617,2423,2984
$GC,1912,2.81,59.5,4.5,8.5,176,1918,0.00,2.47,0.00,0.000,4,0.000,0.050,3617,1023,2984
$STATE,2070,end climb,SURFACE_DEPTH_REACHED
$STATE,2071,begin surface coast
$FINISH,3.5,1.027323
$STATE,2214,end surface coast,CONTROL_FINISHED_OK
$STATE,2214,begin surface
$SM_CCo,2223,288.27,0.509,1,0,541,659.61
$SM_GC,0.65,14.18,0.00,0.00,0.035,0.000,0.000,424,2506,542,-11.79,0.17,659.12
$IRIDIUM_FIX,4726.11,-12257.95,290907,101050
$TT8_MAMPS,0.066729
$HUMID,1793
$INTERNAL_PRESSURE,9.2714
$TCM_TEMP,19.90
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,90.1,37.8
$24V_AH,24.2,18.111
$10V_AH,10.1,12.976
$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,30.925,34.850,90.550,288.275,0.000,40.221,39.918,145.823,2.750,4.150,2846.850,15.427,444.057,1267.371,484.897,408.117,399.864,0.000,728.524,0.000,398.518,0.000,12.993
$DEVICE_MAMPS,158.769,68.263,599.027,509.288,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,153.019,0.000,0.000,0.000,0.000,0.000,0.000,2851.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6439,222
$CFSIZE,260034560,250523648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290907,073526,4739.457,-12253.257,14,1.2,19,18.3