version: 66.02
glider: 118
mission: 6
dive: 243
start: 9 29 107 17 52 26
data:
$ID,118
$MISSION,6
$DIVE,243
$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,-17143.221
$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,46
$R_STBD_OVSHOOT,33
$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
$GPS1,174602,4739.607,-12252.269,9,1.4,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-57.0
$GPS2,175208,4739.651,-12252.212,12,1.2,12,18.3
$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,196.4,415,-20.3,-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,-2.10,-61.3,0.0,0.0,0,82,0.00,0.00,-54.70,0.000,2,0.000,0.000,426,2516,2963
$GC,86,-2.16,-106.7,2.2,-3.4,9,123,11.73,0.00,-21.10,0.000,6,0.159,0.000,2524,2514,3666
$GC,189,-2.16,-106.7,9.6,-8.6,25,194,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2514,3668
$GC,261,-2.16,-106.7,16.5,-9.7,36,267,0.00,2.55,0.00,0.000,4,0.000,0.068,2524,3897,3669
$GC,327,-2.16,-106.7,23.0,-10.2,44,331,0.00,2.38,0.00,0.000,6,0.000,0.031,2524,2495,3670
$GC,522,-2.16,-106.7,40.8,-9.7,59,523,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2491,3670
$GC,714,-2.16,-106.7,59.0,-9.6,74,718,0.00,2.60,0.00,0.000,4,0.000,0.065,2524,3898,3671
$GC,827,-2.16,-106.7,70.8,-10.2,82,832,0.00,2.38,0.00,0.000,6,0.000,0.031,2524,2497,3670
$STATE,1023,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1023,begin apogee
$GC,1030,-0.50,0.0,91.1,10.5,97,1121,1.75,0.00,82.07,0.591,6,0.097,0.000,2887,2409,3228
$STATE,1122,end apogee,CONTROL_FINISHED_OK
$STATE,1122,begin climb
$GC,1124,2.16,106.7,94.1,0.0,105,1213,2.67,2.55,79.95,0.576,4,0.061,0.051,3465,1034,2792
$GC,1279,2.16,106.7,80.2,12.6,117,1287,0.00,2.42,0.00,0.000,6,0.000,0.033,3465,2411,2791
$GC,1476,2.16,106.7,55.6,12.3,133,1480,0.00,2.50,0.00,0.000,4,0.000,0.050,3464,1026,2791
$GC,1501,2.16,106.7,52.2,12.8,134,1508,0.00,2.45,0.00,0.000,6,0.000,0.033,3465,2414,2791
$GC,1697,2.16,106.7,28.2,12.5,150,1698,0.00,0.00,0.00,0.000,6,0.000,0.000,3465,2414,2791
$GC,1891,2.16,106.7,6.8,7.3,174,1897,0.00,2.47,0.00,0.000,4,0.000,0.051,3464,1034,2791
$STATE,1948,end climb,SURFACE_DEPTH_REACHED
$STATE,1948,begin surface coast
$FINISH,0.5,1.026366
$STATE,1975,end surface coast,CONTROL_FINISHED_OK
$STATE,1975,begin surface
$SM_CCo,2004,145.98,0.518,0,0,1597,400.08
$SM_GC,0.90,0.00,0.00,145.98,0.000,0.000,0.518,428,2505,1597,-11.83,0.14,400.08
$IRIDIUM_FIX,4719.74,-12251.79,290907,212117
$TT8_MAMPS,0.069797
$HUMID,1793
$INTERNAL_PRESSURE,9.33976
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,91.1,46.9
$24V_AH,24.1,19.022
$10V_AH,10.1,13.819
$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,29.875,25.000,162.025,145.975,0.000,40.319,34.428,155.528,1.250,8.300,2561.700,12.972,360.915,1032.692,392.240,347.800,395.727,0.000,617.858,0.000,347.453,0.000,10.144
$DEVICE_MAMPS,158.769,69.030,590.590,517.725,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,129.007,0.000,0.000,0.000,0.000,0.000,0.000,2570.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3324,187
$CFSIZE,260034560,250142720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,182914,4739.576,-12252.321,8,1.2,13,18.3