version: 66.02
glider: 118
mission: 6
dive: 117
start: 9 25 107 6 49 21
data:
$ID,118
$MISSION,6
$DIVE,117
$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,-17269.486
$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,28
$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
$GPS1,063951,4739.273,-12252.161,14,1.4,14,18.3
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-60.8
$GPS2,064903,4739.291,-12252.117,15,1.3,15,18.3
$SPEED_LIMITS,0.165,0.236
$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,294.3,481,-19.8,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-2.13,-114.6,0.0,0.0,0,102,0.00,0.00,-72.95,0.000,2,0.000,0.000,428,2488,3417
$GC,106,-2.14,-122.2,2.0,-0.9,12,137,11.85,2.53,-9.30,0.000,4,0.158,0.059,2531,1111,3730
$GC,216,-2.14,-122.2,11.8,-9.5,29,222,0.00,2.42,0.00,0.000,6,0.000,0.032,2531,2500,3732
$GC,288,-2.14,-122.2,18.3,-8.9,40,294,0.00,2.58,0.00,0.000,4,0.000,0.067,2531,3894,3732
$GC,446,-2.14,-122.2,34.0,-10.3,54,450,0.00,2.45,0.00,0.000,6,0.000,0.031,2531,2490,3733
$GC,642,-2.14,-122.2,53.2,-9.3,69,646,0.00,2.65,0.00,0.000,4,0.000,0.064,2531,3897,3734
$GC,734,-2.14,-122.2,62.7,-10.8,76,738,0.00,2.40,0.00,0.000,6,0.000,0.031,2531,2493,3734
$GC,929,-2.14,-122.2,82.3,-10.1,91,933,0.00,2.67,0.00,0.000,4,0.000,0.064,2531,3894,3734
$GC,1009,-2.14,-122.2,90.4,-10.5,96,1016,0.00,2.40,0.00,0.000,6,0.000,0.032,2531,2486,3734
$STATE,1114,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1114,begin apogee
$GC,1121,-0.50,0.0,101.3,9.9,105,1226,1.75,0.00,94.62,0.592,6,0.100,0.000,2883,2417,3229
$STATE,1226,end apogee,CONTROL_FINISHED_OK
$STATE,1227,begin climb
$GC,1229,2.14,122.2,103.8,0.0,114,1334,2.67,2.58,92.85,0.574,4,0.059,0.051,3461,1034,2729
$GC,1400,2.14,122.2,86.9,13.7,128,1404,0.00,2.42,0.00,0.000,6,0.000,0.032,3461,2421,2729
$GC,1595,2.14,122.2,60.7,12.8,143,1597,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,2421,2729
$GC,1787,2.14,122.2,35.6,13.2,158,1791,0.00,2.55,0.00,0.000,4,0.000,0.051,3461,1034,2728
$GC,1841,2.14,122.2,28.6,12.6,162,1845,0.00,2.42,0.00,0.000,6,0.000,0.033,3461,2421,2728
$GC,2042,2.14,122.2,4.5,10.3,187,2048,0.00,2.60,0.00,0.000,4,0.000,0.067,3461,3824,2728
$STATE,2065,end climb,SURFACE_DEPTH_REACHED
$STATE,2065,begin surface coast
$FINISH,0.3,1.024906
$STATE,2080,end surface coast,CONTROL_FINISHED_OK
$STATE,2080,begin surface
$SM_CCo,2110,135.95,0.516,1,0,1598,400.08
$SM_GC,0.93,0.00,0.00,135.95,0.000,0.000,0.516,425,2494,1598,-11.85,-0.17,400.08
$IRIDIUM_FIX,4719.74,-12254.47,250907,101055
$TT8_MAMPS,0.06903
$HUMID,1776
$INTERNAL_PRESSURE,9.34952
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.4,47.8
$24V_AH,23.5,7.111
$10V_AH,10.1,5.595
$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,29.950,35.075,187.475,135.950,0.000,76.863,119.520,165.115,1.250,100.130,2780.870,15.552,373.691,1123.997,427.775,371.840,519.062,0.000,665.016,0.000,372.431,0.000,10.150
$DEVICE_MAMPS,158.002,82.836,592.124,516.191,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,133.137,0.000,0.000,0.000,0.000,0.000,0.000,2881.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6430,193
$CFSIZE,260034560,253927424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,250907,072750,4739.443,-12252.417,14,1.7,14,18.3