version: 66.02
glider: 118
mission: 6
dive: 220
start: 9 28 107 22 18 51
data:
$ID,118
$MISSION,6
$DIVE,220
$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,-17160.088
$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,45
$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
$GPS1,221208,4739.443,-12252.550,39,0.8,39,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-60.7
$GPS2,221833,4739.455,-12252.573,15,0.9,15,18.3
$SPEED_LIMITS,0.115,0.209
$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,65.9,215,-27.3,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-2.78,-34.4,0.0,0.0,0,83,0.00,0.00,-55.10,0.000,2,0.000,0.000,426,2490,2962
$GC,86,-2.81,-59.2,2.1,-3.5,9,119,11.12,2.53,-16.20,0.000,4,0.166,0.060,2383,1110,3473
$GC,369,-2.81,-59.2,28.3,-9.9,45,377,0.00,2.42,0.00,0.000,6,0.000,0.032,2382,2496,3476
$GC,567,-2.81,-59.2,45.1,-8.6,61,571,0.00,2.45,0.00,0.000,4,0.000,0.046,2383,1114,3476
$GC,657,-2.81,-59.2,53.3,-9.2,67,665,0.00,2.42,0.00,0.000,6,0.000,0.032,2383,2498,3476
$GC,854,-2.81,-59.2,71.7,-9.4,83,858,0.00,2.58,0.00,0.000,4,0.000,0.067,2383,3903,3477
$STATE,1027,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1027,begin apogee
$GC,1036,-0.50,0.0,90.1,10.9,95,1090,2.53,0.00,46.50,0.597,6,0.118,0.000,2886,2406,3228
$STATE,1091,end apogee,CONTROL_FINISHED_OK
$STATE,1092,begin climb
$GC,1094,2.81,59.2,92.7,0.0,100,1145,3.33,0.00,44.60,0.584,6,0.058,0.000,3615,2406,2987
$GC,1329,2.81,59.2,68.7,11.3,119,1333,0.00,2.47,0.00,0.000,4,0.000,0.051,3615,1023,2985
$GC,1369,2.81,59.2,63.9,12.4,121,1376,0.00,2.42,0.00,0.000,6,0.000,0.034,3615,2420,2985
$GC,1564,2.81,59.2,40.7,11.8,137,1566,0.00,0.00,0.00,0.000,6,0.000,0.000,3615,2419,2985
$GC,1757,2.81,59.2,17.8,12.0,153,1763,0.00,0.00,0.00,0.000,6,0.000,0.000,3615,2419,2985
$GC,1830,2.81,59.2,10.3,9.6,164,1836,0.00,2.50,0.00,0.000,4,0.000,0.051,3615,1029,2985
$GC,1917,2.82,69.2,3.6,5.4,177,1930,0.00,2.40,7.03,0.584,6,0.000,0.033,3615,2420,2946
$GC,1998,2.88,117.8,2.4,0.4,189,2029,0.00,2.60,24.30,0.545,4,0.000,0.067,3615,3815,2746
$STATE,2033,end climb,SURFACE_DEPTH_REACHED
$STATE,2033,begin surface coast
$FINISH,1.0,1.026275
$STATE,2193,end surface coast,CONTROL_FINISHED_OK
$STATE,2193,begin surface
$SM_CCo,2223,125.53,0.518,0,0,1597,400.08
$SM_GC,0.79,0.00,0.00,125.53,0.000,0.000,0.518,429,2481,1597,-11.83,-0.51,400.08
$IRIDIUM_FIX,4722.92,-12256.21,290907,010125
$TT8_MAMPS,0.066729
$HUMID,1812
$INTERNAL_PRESSURE,9.35929
$TCM_TEMP,19.90
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,90.1,43.4
$24V_AH,24.2,17.383
$10V_AH,10.1,12.320
$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,31.725,29.700,122.425,125.525,0.000,41.005,42.865,165.662,2.500,20.750,2819.250,15.380,418.605,1161.011,348.386,399.863,418.733,0.000,585.888,0.000,400.914,0.000,10.140
$DEVICE_MAMPS,166.439,67.496,597.493,517.725,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,150.896,0.000,0.000,0.000,0.000,0.000,0.000,2840.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6473,219
$CFSIZE,260034560,250826752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,225856,4739.471,-12252.438,12,1.2,12,18.3