version: 66.02
glider: 118
mission: 6
dive: 233
start: 9 29 107 9 38 27
data:
$ID,118
$MISSION,6
$DIVE,233
$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,-17153.045
$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,39
$R_STBD_OVSHOOT,29
$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
$GPS1,093145,4739.343,-12252.702,13,2.0,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-62.1
$GPS2,093809,4739.332,-12252.737,15,2.0,15,18.3
$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,40.9,487,-16.8,-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,-1.78,-87.3,0.0,0.0,0,78,0.00,0.00,-49.17,0.000,2,0.000,0.000,427,2506,2837
$GC,81,-1.83,-122.2,2.1,-3.3,8,130,12.15,2.58,-27.38,0.000,4,0.159,0.059,2595,1104,3730
$GC,190,-1.83,-122.2,10.5,-9.4,25,196,0.00,2.42,0.00,0.000,6,0.000,0.034,2595,2499,3732
$GC,262,-1.83,-122.2,16.4,-8.1,36,269,0.00,2.55,0.00,0.000,4,0.000,0.068,2595,3897,3733
$GC,328,-1.83,-122.2,22.3,-9.1,45,332,0.00,2.40,0.00,0.000,6,0.000,0.031,2595,2483,3733
$GC,526,-1.83,-122.2,38.5,-8.6,60,530,0.00,2.62,0.00,0.000,4,0.000,0.067,2595,3901,3734
$GC,652,-1.83,-122.2,50.5,-10.1,69,657,0.00,2.38,0.00,0.000,6,0.000,0.032,2595,2495,3734
$GC,847,-1.83,-122.2,68.3,-8.9,84,849,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2495,3734
$GC,1041,-1.83,-122.2,84.9,-8.5,99,1045,0.00,2.60,0.00,0.000,4,0.000,0.067,2595,3898,3734
$STATE,1098,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1098,begin apogee
$GC,1107,-0.50,0.0,90.6,8.8,103,1210,1.40,0.00,93.70,0.591,6,0.097,0.000,2883,2412,3228
$STATE,1211,end apogee,CONTROL_FINISHED_OK
$STATE,1211,begin climb
$GC,1213,1.83,122.2,93.3,0.0,112,1315,2.38,2.55,91.20,0.576,4,0.062,0.050,3399,1033,2730
$GC,1389,1.83,122.2,79.2,11.4,126,1394,0.00,2.42,0.00,0.000,6,0.000,0.033,3399,2425,2730
$GC,1584,1.83,122.2,57.6,11.0,141,1586,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,2426,2730
$GC,1778,1.83,122.2,37.3,10.8,156,1779,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,2425,2729
$GC,1964,1.83,122.2,17.2,10.9,173,1970,0.00,2.53,0.00,0.000,4,0.000,0.051,3399,1023,2729
$GC,2003,1.83,122.2,13.0,10.7,179,2009,0.00,2.42,0.00,0.000,6,0.000,0.035,3399,2421,2729
$GC,2075,1.83,122.2,6.5,8.5,190,2081,0.00,2.55,0.00,0.000,4,0.000,0.067,3399,3812,2729
$GC,2332,1.96,231.1,3.5,1.1,229,2402,0.12,2.38,63.72,0.535,2,0.062,0.031,3430,2415,2292
$STATE,2405,end climb,SURFACE_DEPTH_REACHED
$STATE,2405,begin surface coast
$FINISH,0.4,1.025900
$STATE,2423,end surface coast,CONTROL_FINISHED_OK
$STATE,2423,begin surface
$SM_CCo,2451,78.30,0.518,0,0,1598,400.08
$SM_GC,0.74,0.00,0.00,78.30,0.000,0.000,0.518,426,2515,1598,-11.84,0.42,400.08
$IRIDIUM_FIX,4722.92,-12253.53,290907,121238
$TT8_MAMPS,0.068263
$HUMID,1814
$INTERNAL_PRESSURE,9.36906
$TCM_TEMP,20.00
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,66.2,999.0
$24V_AH,24.1,18.329
$10V_AH,10.1,13.192
$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,29.450,35.150,248.625,78.300,0.000,38.758,37.042,168.133,2.750,4.150,3026.850,15.379,441.472,1223.612,394.137,434.554,433.092,0.000,679.422,0.000,438.760,0.000,7.133
$DEVICE_MAMPS,158.769,68.263,590.590,517.725,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,167.379,0.000,0.000,0.000,0.000,0.000,0.000,3031.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6474,243
$CFSIZE,260034560,250425344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,102202,4739.336,-12252.617,40,1.1,40,18.3