version: 66.02
glider: 118
mission: 6
dive: 393
start: 10 5 107 5 29 46
data:
$ID,118
$MISSION,6
$DIVE,393
$D_SURF,2
$D_FLARE,2
$D_TGT,95
$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,90
$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,110
$COURSE_BIAS,0
$GLIDE_SLOPE,25
$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,659.61169
$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,-17368.361
$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,32
$R_STBD_OVSHOOT,26
$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
$GPS1,050544,4741.375,-12251.505,10,1.8,15,18.3
$_CALLS,5
$_XMS_NAKs,21
$_XMS_TOUTs,5
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-53.2
$GPS2,052929,4741.227,-12251.691,13,2.1,32,18.3
$SPEED_LIMITS,0.151,0.202
$TGT_NAME,10_XC
$TGT_LATLONG,4741.454,-12251.414
$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,21.1,544,-15.7,-7.037
$D_GRID,95
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,30,-1.70,-107.5,0.0,0.0,0,144,0.00,0.00,-107.68,0.000,2,0.000,0.000,424,2493,3081
$GC,148,-1.70,-107.5,2.0,-2.7,18,186,12.38,2.50,-18.62,0.000,4,0.162,0.061,2621,1100,3668
$GC,215,-1.70,-107.5,6.2,-7.1,28,221,0.00,2.45,0.00,0.000,6,0.000,0.034,2620,2512,3670
$GC,288,-1.70,-107.5,12.7,-8.5,39,295,0.00,2.58,0.00,0.000,4,0.000,0.070,2621,3905,3671
$GC,321,-1.70,-107.5,15.7,-9.5,44,328,0.00,2.42,0.00,0.000,6,0.000,0.033,2620,2478,3672
$GC,394,-1.70,-107.5,21.1,-6.8,54,395,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2478,3672
$GC,586,-1.70,-107.5,33.7,-7.0,69,591,0.00,2.62,0.00,0.000,4,0.000,0.066,2621,3898,3673
$GC,715,-1.70,-107.5,43.2,-7.6,78,719,0.00,2.38,0.00,0.000,6,0.000,0.034,2620,2504,3673
$GC,911,-1.70,-107.5,57.2,-7.4,93,916,0.00,2.60,0.00,0.000,4,0.000,0.067,2620,3905,3673
$GC,998,-1.70,-107.5,63.6,-7.2,99,1003,0.00,2.42,0.00,0.000,6,0.000,0.034,2621,2503,3674
$GC,1200,-1.70,-107.5,78.1,-7.3,115,1202,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2497,3673
$GC,1390,-1.70,-107.5,91.1,-6.7,130,1394,0.00,2.60,0.00,0.000,4,0.000,0.067,2621,3905,3674
$STATE,1439,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1439,begin apogee
$GC,1449,-0.50,0.0,95.1,7.4,133,1534,1.30,0.00,80.55,0.601,6,0.094,0.000,2886,2410,3229
$STATE,1535,end apogee,CONTROL_FINISHED_OK
$STATE,1535,begin climb
$GC,1538,1.70,107.5,97.0,0.0,140,1628,2.22,0.00,81.00,0.581,6,0.060,0.000,3368,2409,2790
$GC,1818,1.70,107.5,74.0,10.5,163,1822,0.00,2.50,0.00,0.000,4,0.000,0.053,3368,1028,2791
$GC,1891,1.70,107.5,65.9,11.1,168,1895,0.00,2.42,0.00,0.000,6,0.000,0.033,3368,2419,2791
$GC,2087,1.70,107.5,46.3,9.6,183,2089,0.00,0.00,0.00,0.000,6,0.000,0.000,3369,2419,2791
$GC,2279,1.70,107.5,28.2,9.5,198,2280,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,2419,2791
$GC,2470,1.72,120.6,11.7,6.5,221,2484,0.00,2.60,9.10,0.578,4,0.000,0.051,3368,1022,2737
$STATE,2593,end climb,SURFACE_DEPTH_REACHED
$STATE,2593,begin surface coast
$FINISH,0.1,1.027744
$STATE,2621,end surface coast,CONTROL_FINISHED_OK
$STATE,2621,begin surface
$SM_CCo,2654,253.80,0.510,0,0,541,659.61
$SM_GC,0.60,0.00,0.00,253.80,0.000,0.000,0.510,426,2501,541,-11.84,0.03,659.61
$IRIDIUM_FIX,4722.92,-12240.28,051007,090953
$TT8_MAMPS,0.068263
$HUMID,1748
$INTERNAL_PRESSURE,9.2421
$TCM_TEMP,19.90
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,90.3,43.3
$24V_AH,24.1,30.950
$10V_AH,10.1,24.094
$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,28.975,35.325,170.650,253.800,0.000,202.791,289.260,492.230,2.000,0.000,4413.000,33.292,449.685,1642.740,551.371,443.832,1255.176,0.000,825.575,0.000,441.737,0.000,10.141
$DEVICE_MAMPS,161.837,69.797,600.561,510.055,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,168.756,0.000,0.000,0.000,0.000,0.000,0.000,4413.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,19.122,51.000
$DATA_FILE_SIZE,6438,244
$CFSIZE,260034560,245653504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,061937,4741.310,-12251.466,36,1.5,36,18.3