version: 66.02
glider: 118
mission: 6
dive: 101
start: 9 24 107 19 19 9
data:
$ID,118
$MISSION,6
$DIVE,101
$D_SURF,2
$D_FLARE,2
$D_TGT,100
$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,35
$T_MISSION,70
$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,-17199.895
$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,44
$R_STBD_OVSHOOT,25
$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,10
$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
$GPS1,191303,4739.406,-12252.875,12,1.2,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-59.3
$GPS2,191851,4739.397,-12252.845,12,2.0,12,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H4
$TGT_LATLONG,4739.000,-12253.603
$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,213.8,1198,-19.2,-9.524
$D_GRID,100
$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,-2.07,-122.2,0.0,0.0,0,88,0.00,0.00,-60.80,0.000,2,0.000,0.000,422,2510,3062
$GC,92,-2.07,-122.2,2.2,-4.8,10,136,12.02,2.65,-22.15,0.000,4,0.155,0.084,2544,3896,3730
$GC,195,-2.07,-122.2,8.5,-9.0,26,201,0.00,2.40,0.00,0.000,6,0.000,0.034,2544,2500,3732
$GC,267,-2.07,-122.2,16.2,-11.4,37,274,0.00,2.50,0.00,0.000,4,0.000,0.049,2544,1108,3732
$GC,333,-2.07,-122.2,22.8,-10.5,45,337,0.00,2.50,0.00,0.000,6,0.000,0.034,2544,2508,3732
$GC,528,-2.07,-122.2,41.7,-9.3,60,530,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2509,3733
$GC,720,-2.07,-122.2,61.4,-11.0,75,724,0.00,2.60,0.00,0.000,4,0.000,0.071,2544,3902,3734
$GC,800,-2.07,-122.2,70.7,-11.6,80,807,0.00,2.40,0.00,0.000,6,0.000,0.034,2544,2492,3733
$GC,1001,-2.07,-122.2,90.8,-9.5,96,1005,0.00,2.65,0.00,0.000,4,0.000,0.068,2544,3906,3734
$GC,1052,-2.07,-122.2,96.8,-10.1,99,1059,0.00,2.53,0.00,0.000,6,0.000,0.034,2544,2494,3734
$STATE,1095,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1095,begin apogee
$GC,1102,-0.50,0.0,101.1,10.0,103,1206,1.73,0.00,95.03,0.602,6,0.094,0.000,2891,2414,3229
$STATE,1207,end apogee,CONTROL_FINISHED_OK
$STATE,1207,begin climb
$GC,1210,2.07,122.2,102.8,0.0,112,1309,2.60,0.00,92.88,0.581,6,0.061,0.000,3449,2414,2731
$GC,1492,2.07,122.2,68.6,14.3,135,1497,0.00,2.50,0.00,0.000,4,0.000,0.052,3449,1031,2728
$GC,1525,2.07,122.2,64.1,13.8,137,1530,0.00,2.45,0.00,0.000,6,0.000,0.034,3450,2415,2728
$GC,1727,2.07,122.2,37.3,13.1,153,1731,0.00,2.53,0.00,0.000,4,0.000,0.051,3451,1029,2728
$GC,1898,2.07,122.2,15.8,12.2,168,1904,0.00,2.45,0.00,0.000,6,0.000,0.034,3450,2421,2727
$GC,1971,2.07,122.2,7.9,11.2,179,1977,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2421,2727
$STATE,2022,end climb,SURFACE_DEPTH_REACHED
$STATE,2022,begin surface coast
$FINISH,0.5,1.027227
$STATE,2036,end surface coast,CONTROL_FINISHED_OK
$STATE,2036,begin surface
$SM_CCo,2065,128.25,0.519,0,0,1597,400.08
$SM_GC,0.85,0.00,0.00,128.25,0.000,0.000,0.519,420,2509,1597,-11.86,0.25,400.08
$IRIDIUM_FIX,4722.92,-12251.79,240907,222237
$TT8_MAMPS,0.06903
$HUMID,1813
$INTERNAL_PRESSURE,9.33976
$TCM_TEMP,20.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,9.3,9.0
$ALTIM_BOTTOM_PING,90.8,47.9
$24V_AH,23.9,5.575
$10V_AH,10.1,4.689
$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,29.750,30.400,187.900,128.250,0.000,41.005,30.294,149.755,2.250,99.280,2519.720,14.111,371.207,1035.981,420.003,352.740,374.925,0.000,649.646,0.000,351.225,0.000,11.754
$DEVICE_MAMPS,154.934,83.603,602.095,519.259,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,130.648,0.000,0.000,0.000,0.000,0.000,0.000,2619.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6448,189
$CFSIZE,260034560,254377984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,195659,4739.168,-12253.187,13,2.6,32,18.3