version: 66.02
glider: 118
mission: 6
dive: 272
start: 9 30 107 19 13 54
data:
$ID,118
$MISSION,6
$DIVE,272
$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,-17203.395
$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,40
$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
$GPS1,185944,4739.792,-12251.946,8,1.1,20,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.52
$_SM_ANGLEo,-48.8
$GPS2,191337,4739.908,-12251.722,35,1.0,39,18.3
$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,207.8,1177,-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,28,-1.54,-122.2,0.0,0.0,0,147,0.00,0.00,-114.50,0.000,2,0.000,0.000,429,2509,3216
$GC,150,-1.54,-122.2,2.1,-3.7,19,182,12.43,0.00,-15.65,0.000,6,0.158,0.000,2659,2509,3729
$GC,249,-1.54,-122.2,8.6,-5.9,34,255,0.00,2.58,0.00,0.000,4,0.000,0.071,2659,3894,3732
$GC,349,-1.54,-122.2,14.2,-6.5,49,356,0.00,2.40,0.00,0.000,6,0.000,0.033,2659,2484,3732
$GC,422,-1.54,-122.2,19.1,-6.6,60,428,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2484,3733
$GC,498,-1.54,-122.2,24.5,-7.0,67,499,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2484,3733
$GC,690,-1.54,-122.2,36.4,-5.5,82,694,0.00,2.62,0.00,0.000,4,0.000,0.067,2659,3898,3734
$GC,789,-1.54,-122.2,43.1,-6.6,89,793,0.00,2.38,0.00,0.000,6,0.000,0.033,2660,2498,3734
$GC,987,-1.54,-122.2,57.0,-7.4,104,991,0.00,2.60,0.00,0.000,4,0.000,0.067,2659,3900,3734
$GC,1106,-1.54,-122.2,66.8,-8.9,112,1113,0.00,2.38,0.00,0.000,6,0.000,0.035,2659,2493,3734
$GC,1303,-1.54,-122.2,80.8,-6.8,128,1304,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2494,3734
$STATE,1429,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1429,begin apogee
$GC,1435,-0.50,0.0,90.7,8.1,138,1531,1.08,0.00,92.05,0.601,6,0.098,0.000,2883,2409,3229
$STATE,1532,end apogee,CONTROL_FINISHED_OK
$STATE,1532,begin climb
$GC,1535,1.54,122.2,94.0,0.0,146,1636,2.08,2.55,91.78,0.584,4,0.064,0.051,3331,1033,2730
$GC,1697,1.54,122.2,84.1,9.2,159,1702,0.00,2.42,0.00,0.000,6,0.000,0.033,3331,2411,2731
$GC,1899,1.54,122.2,64.5,9.8,175,1900,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,2411,2731
$GC,2091,1.54,122.2,47.0,8.5,190,2092,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,2411,2731
$GC,2282,1.54,122.2,31.7,8.2,205,2286,0.00,2.47,0.00,0.000,4,0.000,0.051,3331,1035,2732
$GC,2301,1.54,122.2,29.7,8.7,206,2306,0.00,2.42,0.00,0.000,6,0.000,0.033,3331,2421,2731
$GC,2501,1.54,122.2,12.6,8.6,227,2507,0.00,2.47,0.00,0.000,4,0.000,0.051,3331,1036,2731
$STATE,2623,end climb,SURFACE_DEPTH_REACHED
$STATE,2623,begin surface coast
$FINISH,1.0,1.027961
$STATE,2631,end surface coast,CONTROL_FINISHED_OK
$STATE,2631,begin surface
$SM_CCo,2661,126.90,0.523,0,0,1597,400.08
$SM_GC,0.80,0.00,0.00,126.90,0.000,0.000,0.523,426,2507,1597,-11.84,0.20,400.08
$IRIDIUM_FIX,4722.92,-12253.53,300907,232304
$TT8_MAMPS,0.067496
$HUMID,1778
$INTERNAL_PRESSURE,9.32999
$TCM_TEMP,19.80
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,65.6,999.0
$24V_AH,24.1,21.248
$10V_AH,10.1,15.786
$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,28.375,30.000,183.825,126.900,0.000,120.086,92.297,325.693,1.750,12.450,3816.550,39.036,455.703,1537.487,426.188,468.087,745.005,0.000,715.036,0.000,449.412,0.000,7.133
$DEVICE_MAMPS,158.002,71.331,601.328,523.094,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,170.931,0.000,0.000,0.000,0.000,0.000,0.000,3829.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6459,247
$CFSIZE,260034560,249241600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,200121,4739.814,-12251.946,8,1.2,14,18.3