version: 66.02
glider: 118
mission: 6
dive: 318
start: 10 2 107 12 33 22
data:
$ID,118
$MISSION,6
$DIVE,318
$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,-17203.268
$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,41
$R_STBD_OVSHOOT,35
$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
$GPS1,122656,4739.386,-12252.504,13,1.7,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-56.0
$GPS2,123303,4739.426,-12252.455,12,1.6,12,18.3
$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,256.3,935,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-1.54,-122.2,0.0,0.0,0,96,0.00,0.00,-66.90,0.000,2,0.000,0.000,425,2510,3189
$GC,100,-1.54,-122.2,2.3,-3.5,11,137,12.55,2.58,-15.65,0.000,4,0.161,0.059,2659,1106,3730
$GC,250,-1.54,-122.2,12.7,-6.8,34,256,0.00,2.42,0.00,0.000,6,0.000,0.033,2659,2501,3733
$GC,322,-1.54,-122.2,17.9,-7.0,45,329,0.00,2.58,0.00,0.000,4,0.000,0.070,2659,3894,3732
$GC,444,-1.54,-122.2,26.1,-6.6,57,448,0.00,2.40,0.00,0.000,6,0.000,0.032,2659,2484,3732
$GC,640,-1.54,-122.2,38.4,-6.1,72,644,0.00,2.65,0.00,0.000,4,0.000,0.067,2660,3897,3733
$GC,679,-1.54,-122.2,41.2,-7.0,75,684,0.00,2.40,0.00,0.000,6,0.000,0.033,2659,2500,3733
$GC,881,-1.54,-122.2,54.9,-6.7,91,885,0.00,2.60,0.00,0.000,4,0.000,0.066,2659,3902,3733
$GC,945,-1.54,-122.2,59.6,-7.0,95,953,0.00,2.42,0.00,0.000,6,0.000,0.033,2659,2495,3733
$GC,1142,-1.54,-122.2,72.8,-6.7,111,1146,0.00,2.60,0.00,0.000,4,0.000,0.067,2659,3900,3733
$GC,1207,-1.54,-122.2,77.3,-6.8,115,1214,0.00,2.40,0.00,0.000,6,0.000,0.034,2659,2500,3733
$STATE,1406,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1406,begin apogee
$GC,1413,-0.50,0.0,90.1,6.3,131,1516,1.10,0.00,94.65,0.598,6,0.093,0.000,2885,2421,3228
$STATE,1517,end apogee,CONTROL_FINISHED_OK
$STATE,1517,begin climb
$GC,1520,1.54,122.2,91.8,0.0,140,1621,2.05,2.60,91.88,0.581,4,0.061,0.053,3331,1026,2729
$GC,1683,1.54,122.2,79.6,10.0,153,1688,0.00,2.45,0.00,0.000,6,0.000,0.034,3331,2414,2728
$GC,1886,1.54,122.2,60.7,9.2,169,1887,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,2414,2728
$GC,2077,1.54,122.2,43.3,9.2,184,2078,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2414,2728
$GC,2269,1.54,122.2,26.3,8.6,199,2273,0.00,2.53,0.00,0.000,4,0.000,0.051,3331,1023,2728
$GC,2301,1.54,122.2,23.0,9.2,201,2306,0.00,2.45,0.00,0.000,6,0.000,0.034,3331,2415,2728
$GC,2504,1.54,122.2,5.4,10.4,229,2511,0.00,2.53,0.00,0.000,4,0.000,0.051,3331,1023,2728
$STATE,2541,end climb,SURFACE_DEPTH_REACHED
$STATE,2541,begin surface coast
$FINISH,0.2,1.027873
$STATE,2564,end surface coast,CONTROL_FINISHED_OK
$STATE,2564,begin surface
$SM_CCo,2596,128.73,0.521,0,0,1598,400.08
$SM_GC,0.74,0.00,0.00,128.73,0.000,0.000,0.521,427,2515,1598,-11.84,0.42,400.08
$IRIDIUM_FIX,4722.92,-12256.21,021007,151504
$TT8_MAMPS,0.067496
$HUMID,1772
$INTERNAL_PRESSURE,9.32999
$TCM_TEMP,19.80
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,65.1,999.0
$24V_AH,24.1,24.948
$10V_AH,10.1,18.985
$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,28.625,40.325,186.525,128.725,0.000,38.258,34.042,150.983,3.000,29.050,3141.950,12.998,452.502,1378.977,403.560,440.047,432.337,0.000,687.377,0.000,440.263,0.000,10.000
$DEVICE_MAMPS,161.070,70.564,598.260,520.793,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,166.676,0.000,0.000,0.000,0.000,0.000,0.000,3171.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6454,238
$CFSIZE,260034560,247894016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,132002,4739.459,-12252.900,28,1.7,28,18.3