version: 66.02
glider: 118
mission: 6
dive: 137
start: 9 25 107 22 3 39
data:
$ID,118
$MISSION,6
$DIVE,137
$D_SURF,2
$D_FLARE,2
$D_TGT,120
$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,-17321.74
$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,36
$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
$GPS1,215645,4739.417,-12253.185,12,1.4,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-64.0
$GPS2,220323,4739.378,-12253.198,10,2.9,29,18.3
$SPEED_LIMITS,0.154,0.231
$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,62.3,1007,-18.1,-8.889
$D_GRID,120
$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,-1.96,-122.2,0.0,0.0,0,78,0.00,0.00,-49.10,0.000,2,0.000,0.000,425,2507,2844
$GC,82,-1.96,-122.2,2.1,-4.2,8,137,12.00,2.58,-34.40,0.000,4,0.156,0.059,2567,1101,3730
$GC,159,-1.96,-122.2,4.7,-8.0,20,165,0.00,2.47,0.00,0.000,6,0.000,0.032,2568,2505,3731
$GC,231,-1.96,-122.2,11.2,-8.5,31,238,0.00,2.53,0.00,0.000,4,0.000,0.046,2567,1104,3732
$GC,257,-1.96,-122.2,13.6,-9.4,35,264,0.00,2.42,0.00,0.000,6,0.000,0.031,2567,2500,3732
$GC,330,-1.96,-122.2,19.9,-9.0,46,335,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2500,3732
$GC,399,-1.96,-122.2,25.6,-8.4,52,400,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2500,3733
$GC,592,-1.96,-122.2,41.9,-9.1,67,596,0.00,2.60,0.00,0.000,4,0.000,0.067,2567,3899,3734
$GC,643,-1.96,-122.2,47.2,-9.2,70,650,0.00,2.45,0.00,0.000,6,0.000,0.031,2567,2480,3734
$GC,840,-1.96,-122.2,64.6,-8.8,86,845,0.00,2.67,0.00,0.000,4,0.000,0.065,2567,3895,3734
$GC,990,-1.96,-122.2,78.9,-9.3,97,998,0.00,2.42,0.00,0.000,6,0.000,0.038,2567,2499,3734
$GC,1187,-1.96,-122.2,96.9,-9.3,113,1191,0.00,2.65,0.00,0.000,4,0.000,0.064,2567,3898,3734
$GC,1226,-1.96,-122.2,100.9,-10.1,116,1231,0.00,2.42,0.00,0.000,6,0.000,0.033,2567,2506,3734
$GC,1428,-1.96,-122.2,119.6,-8.3,132,1432,0.00,2.17,0.00,0.000,3,0.000,0.060,2567,3686,3734
$STATE,1433,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1433,begin apogee
$GC,1441,-0.50,0.0,120.0,8.0,132,1544,1.58,0.00,95.82,0.609,6,0.092,0.000,2886,2415,3228
$STATE,1545,end apogee,CONTROL_FINISHED_OK
$STATE,1545,begin climb
$GC,1547,1.96,122.2,122.7,0.0,141,1648,2.53,2.53,92.72,0.591,4,0.062,0.051,3428,1031,2729
$GC,1716,1.96,122.2,107.5,12.3,154,1723,0.00,2.42,0.00,0.000,6,0.000,0.033,3428,2418,2728
$GC,1912,1.96,122.2,82.7,12.6,170,1913,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,2418,2728
$GC,2103,1.96,122.2,58.4,13.1,185,2104,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,2418,2729
$GC,2293,1.96,122.2,34.2,12.6,200,2297,0.00,2.50,0.00,0.000,4,0.000,0.050,3428,1032,2727
$GC,2357,1.96,122.2,25.6,12.7,204,2364,0.00,2.45,0.00,0.000,6,0.000,0.033,3428,2415,2727
$GC,2560,1.97,125.8,3.3,8.7,231,2568,0.00,2.58,1.98,0.645,4,0.000,0.050,3428,1030,2716
$STATE,2592,end climb,SURFACE_DEPTH_REACHED
$STATE,2592,begin surface coast
$FINISH,0.8,1.025380
$STATE,2638,end surface coast,CONTROL_FINISHED_OK
$STATE,2639,begin surface
$SM_CCo,2668,127.55,0.518,0,0,1597,400.08
$SM_GC,1.12,0.00,0.00,127.55,0.000,0.000,0.518,424,2511,1597,-11.85,0.31,400.08
$IRIDIUM_FIX,4722.92,-12251.79,260907,010124
$TT8_MAMPS,0.068263
$HUMID,1811
$INTERNAL_PRESSURE,9.34952
$TCM_TEMP,20.00
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,91.0,49.5
$24V_AH,23.5,9.759
$10V_AH,10.1,6.793
$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,29.875,44.725,190.525,127.550,0.000,37.270,34.701,176.104,2.000,381.981,2911.019,29.969,459.621,1424.872,420.143,466.179,435.018,0.000,710.923,0.000,448.508,0.000,8.565
$DEVICE_MAMPS,155.701,67.496,645.047,518.492,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,167.777,0.000,0.000,0.000,0.000,0.000,0.000,3293.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6424,243
$CFSIZE,260034560,253321216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250907,225137,4739.256,-12252.815,33,0.8,38,18.3