version: 66.02
glider: 118
mission: 6
dive: 146
start: 9 26 107 5 56 15
data:
$ID,118
$MISSION,6
$DIVE,146
$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,-17262.727
$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,34
$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
$GPS1,054133,4739.540,-12252.347,8,1.4,8,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-63.3
$GPS2,055557,4739.577,-12252.306,12,1.5,12,18.3
$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,192.2,236,-27.7,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-2.84,-53.0,0.0,0.0,0,75,0.00,0.00,-48.78,0.000,2,0.000,0.000,424,2508,2840
$GC,79,-2.88,-92.3,2.2,-4.5,8,123,10.93,2.55,-26.20,0.000,4,0.156,0.074,2367,3891,3607
$GC,151,-2.88,-92.7,5.8,-8.8,19,157,0.00,2.38,0.00,0.000,6,0.000,0.030,2367,2478,3609
$GC,223,-2.88,-92.7,13.7,-11.7,30,229,0.00,2.40,0.00,0.000,4,0.000,0.045,2367,1124,3609
$GC,460,-2.88,-92.7,39.3,-10.7,53,465,0.00,2.40,0.00,0.000,6,0.000,0.030,2368,2495,3611
$GC,662,-2.88,-92.7,61.7,-11.7,69,666,0.00,2.58,0.00,0.000,4,0.000,0.065,2367,3899,3611
$GC,795,-2.88,-92.7,78.4,-12.9,78,802,0.00,2.35,0.00,0.000,6,0.000,0.031,2367,2500,3611
$GC,991,-2.88,-92.7,101.7,-11.1,94,995,0.00,2.58,0.00,0.000,4,0.000,0.063,2367,3900,3611
$GC,1037,-2.88,-92.7,107.0,-11.5,97,1041,0.00,2.38,0.00,0.000,6,0.000,0.031,2368,2496,3611
$STATE,1154,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1154,begin apogee
$GC,1160,-0.50,0.0,120.1,10.9,106,1242,2.62,0.00,72.20,0.607,6,0.114,0.000,2883,2409,3228
$STATE,1242,end apogee,CONTROL_FINISHED_OK
$STATE,1243,begin climb
$GC,1245,2.88,92.7,121.9,0.0,113,1325,3.40,2.55,70.10,0.592,4,0.058,0.050,3631,1035,2850
$GC,1340,2.88,92.7,112.0,15.3,120,1344,0.00,2.40,0.00,0.000,6,0.000,0.032,3632,2414,2849
$GC,1535,2.88,92.7,77.1,17.0,135,1539,0.00,2.50,0.00,0.000,4,0.000,0.049,3632,1035,2848
$GC,1639,2.88,92.7,58.7,17.7,142,1647,0.00,2.40,0.00,0.000,6,0.000,0.031,3631,2409,2848
$GC,1836,2.88,92.7,24.9,17.2,158,1841,0.00,2.47,0.00,0.000,4,0.000,0.049,3631,1033,2848
$GC,1915,2.88,92.7,12.2,15.0,167,1922,0.00,2.40,0.00,0.000,6,0.000,0.031,3632,2418,2848
$GC,1988,2.88,92.7,3.3,12.1,178,1994,0.00,2.47,0.00,0.000,4,0.000,0.048,3632,1034,2848
$STATE,2005,end climb,SURFACE_DEPTH_REACHED
$STATE,2005,begin surface coast
$FINISH,0.8,1.025707
$STATE,2026,end surface coast,CONTROL_FINISHED_OK
$STATE,2026,begin surface
$SM_CCo,2059,158.65,0.516,1,0,1597,400.08
$SM_GC,0.99,0.00,0.00,158.65,0.000,0.000,0.516,427,2504,1597,-11.83,0.11,400.08
$IRIDIUM_FIX,4722.92,-12251.79,260907,090951
$TT8_MAMPS,0.067496
$HUMID,1769
$INTERNAL_PRESSURE,9.34952
$TCM_TEMP,19.90
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,90.1,43.3
$24V_AH,23.6,11.106
$10V_AH,10.1,7.387
$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,31.825,39.500,142.300,158.650,0.000,112.179,213.315,280.478,1.750,99.270,2990.730,12.849,372.812,1171.137,401.897,377.369,776.646,0.000,644.757,0.000,374.171,0.000,8.545
$DEVICE_MAMPS,156.468,73.632,607.464,516.191,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,126.851,0.000,0.000,0.000,0.000,0.000,0.000,3090.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6448,184
$CFSIZE,260034560,253030400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260907,063415,4739.417,-12252.469,13,1.3,13,18.3