version: 66.02
glider: 118
mission: 6
dive: 188
start: 9 27 107 18 27 49
data:
$ID,118
$MISSION,6
$DIVE,188
$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,-17162.529
$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,43
$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
$GPS1,181615,4739.459,-12252.384,14,1.8,14,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-63.1
$GPS2,182732,4739.422,-12252.448,15,1.8,15,18.3
$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,256.7,944,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.54,-122.2,0.0,0.0,0,84,0.00,0.00,-54.72,0.000,2,0.000,0.000,425,2512,2964
$GC,88,-1.54,-122.2,2.1,-3.5,9,132,12.40,2.58,-26.25,0.000,4,0.156,0.057,2658,1106,3729
$GC,386,-1.54,-122.2,20.3,-6.4,54,392,0.00,2.40,0.00,0.000,6,0.000,0.032,2658,2499,3733
$GC,582,-1.54,-122.2,32.0,-5.3,70,586,0.00,2.47,0.00,0.000,4,0.000,0.046,2658,1106,3733
$GC,667,-1.54,-122.2,37.4,-6.8,76,671,0.00,2.40,0.00,0.000,6,0.000,0.032,2658,2499,3734
$GC,863,-1.54,-122.2,49.9,-6.2,91,868,0.00,2.58,0.00,0.000,4,0.000,0.070,2658,3891,3733
$GC,947,-1.54,-122.2,55.6,-6.9,97,954,0.00,2.38,0.00,0.000,6,0.000,0.031,2658,2494,3734
$GC,1144,-1.54,-122.2,68.5,-6.5,113,1148,0.00,2.60,0.00,0.000,4,0.000,0.067,2658,3905,3734
$GC,1219,-1.54,-122.2,73.6,-6.9,118,1223,0.00,2.38,0.00,0.000,6,0.000,0.033,2658,2504,3734
$GC,1414,-1.54,-122.2,86.1,-6.4,133,1418,0.00,2.58,0.00,0.000,4,0.000,0.067,2658,3897,3734
$GC,1452,-1.54,-122.2,88.7,-6.4,135,1459,0.00,2.38,0.00,0.000,6,0.000,0.033,2658,2493,3734
$STATE,1485,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1485,begin apogee
$GC,1491,-0.50,0.0,90.7,6.7,138,1594,1.10,0.00,96.78,0.590,6,0.089,0.000,2886,2409,3228
$STATE,1595,end apogee,CONTROL_FINISHED_OK
$STATE,1595,begin climb
$GC,1598,1.54,122.2,93.1,0.0,147,1702,2.08,0.00,94.62,0.572,6,0.063,0.000,3334,2409,2729
$GC,1891,1.54,122.2,68.3,9.9,171,1896,0.00,2.47,0.00,0.000,4,0.000,0.052,3334,1036,2728
$GC,1924,1.54,122.2,64.9,10.4,173,1929,0.00,2.42,0.00,0.000,6,0.000,0.033,3334,2415,2727
$GC,2126,1.54,122.2,45.5,9.3,189,2127,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2414,2728
$GC,2317,1.54,122.2,28.7,8.9,204,2321,0.00,2.47,0.00,0.000,4,0.000,0.051,3334,1036,2727
$GC,2382,1.54,122.2,22.3,9.6,208,2389,0.00,2.40,0.00,0.000,6,0.000,0.033,3334,2409,2727
$GC,2588,1.54,122.2,4.8,7.0,237,2594,0.00,2.58,0.00,0.000,4,0.000,0.067,3334,3816,2727
$STATE,2645,end climb,SURFACE_DEPTH_REACHED
$STATE,2645,begin surface coast
$FINISH,1.5,1.025698
$STATE,2692,end surface coast,CONTROL_FINISHED_OK
$STATE,2692,begin surface
$SM_CCo,2722,134.38,0.520,1,0,1597,400.08
$SM_GC,0.86,0.00,0.00,134.38,0.000,0.000,0.520,427,2492,1597,-11.84,-0.23,400.08
$IRIDIUM_FIX,4722.92,-12249.11,270907,222222
$TT8_MAMPS,0.067496
$HUMID,1797
$INTERNAL_PRESSURE,9.34952
$TCM_TEMP,19.80
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,90.7,45.5
$24V_AH,24.1,15.022
$10V_AH,10.1,10.191
$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,28.750,39.450,191.400,134.375,0.000,121.902,163.970,135.198,2.000,0.000,3633.000,15.224,479.851,1575.580,431.513,454.613,610.601,0.000,710.282,0.000,459.721,0.000,10.147
$DEVICE_MAMPS,155.701,69.797,589.823,520.026,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,174.557,0.000,0.000,0.000,0.000,0.000,0.000,3633.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6441,253
$CFSIZE,260034560,251756544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270907,191644,4739.396,-12252.805,11,1.5,28,18.3