version: 66.02
glider: 118
mission: 6
dive: 235
start: 9 29 107 11 15 51
data:
$ID,118
$MISSION,6
$DIVE,235
$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,-17140.742
$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,47
$R_STBD_OVSHOOT,27
$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
$GPS1,110921,4739.375,-12252.526,11,2.0,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-63.0
$GPS2,111533,4739.359,-12252.522,13,1.8,13,18.3
$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,18.8,250,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-2.78,-34.4,0.0,0.0,0,77,0.00,0.00,-48.75,0.000,2,0.000,0.000,425,2484,2833
$GC,81,-2.81,-63.9,2.1,-2.8,8,125,10.95,2.50,-23.77,0.000,4,0.160,0.060,2382,1111,3491
$GC,375,-2.81,-63.9,27.3,-8.6,46,382,0.00,2.42,0.00,0.000,6,0.000,0.032,2382,2496,3494
$GC,572,-2.81,-63.9,45.8,-10.1,62,576,0.00,2.45,0.00,0.000,4,0.000,0.045,2382,1115,3495
$GC,644,-2.81,-63.9,53.8,-11.1,67,648,0.00,2.40,0.00,0.000,6,0.000,0.033,2382,2506,3495
$GC,840,-2.81,-63.9,74.3,-10.2,82,841,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2506,3495
$STATE,993,end dive,TARGET_DEPTH_EXCEEDED
$STATE,993,begin apogee
$GC,999,-0.50,0.0,90.0,10.7,94,1054,2.53,0.00,49.33,0.599,6,0.114,0.000,2888,2414,3229
$STATE,1055,end apogee,CONTROL_FINISHED_OK
$STATE,1055,begin climb
$GC,1058,2.81,63.9,92.4,0.0,99,1119,3.28,2.58,47.67,0.587,4,0.054,0.048,3619,1029,2968
$GC,1238,2.81,63.9,74.8,12.2,113,1243,0.00,2.42,0.00,0.000,6,0.000,0.033,3619,2409,2967
$GC,1440,2.81,63.9,51.2,11.8,129,1441,0.00,0.00,0.00,0.000,6,0.000,0.000,3619,2408,2967
$GC,1631,2.81,63.9,27.8,12.1,144,1636,0.00,2.47,0.00,0.000,4,0.000,0.050,3619,1028,2967
$GC,1805,2.81,63.9,7.5,10.2,164,1812,0.00,2.40,0.00,0.000,6,0.000,0.033,3619,2415,2967
$GC,1878,2.85,91.6,3.6,3.1,175,1903,0.00,2.58,20.17,0.558,4,0.000,0.049,3619,1028,2854
$GC,1965,2.91,145.3,3.9,-0.3,188,2008,0.00,2.42,37.58,0.543,6,0.000,0.033,3619,2425,2636
$STATE,2025,end climb,SURFACE_DEPTH_REACHED
$STATE,2026,begin surface coast
$FINISH,0.2,1.026148
$STATE,2066,end surface coast,CONTROL_FINISHED_OK
$STATE,2067,begin surface
$SM_CCo,2097,119.12,0.517,0,0,1597,400.08
$SM_GC,0.84,0.00,0.00,119.12,0.000,0.000,0.517,427,2503,1597,-11.84,0.08,400.08
$IRIDIUM_FIX,4722.92,-12249.11,290907,141404
$TT8_MAMPS,0.066729
$HUMID,1786
$INTERNAL_PRESSURE,9.35929
$TCM_TEMP,19.90
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,90.0,43.9
$24V_AH,24.2,18.465
$10V_AH,10.1,13.311
$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,31.450,24.900,154.750,119.125,0.000,38.789,40.164,158.012,2.500,4.150,2672.850,13.540,385.909,1080.199,348.649,381.346,405.760,0.000,587.858,0.000,382.653,0.000,10.134
$DEVICE_MAMPS,160.303,71.331,599.027,516.958,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,140.533,0.000,0.000,0.000,0.000,0.000,0.000,2677.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6443,204
$CFSIZE,260034560,250376192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,115345,4739.449,-12252.521,14,1.8,14,18.3