version: 66.02
glider: 118
mission: 6
dive: 471
start: 10 7 107 22 55 25
data:
$ID,118
$MISSION,6
$DIVE,471
$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,60
$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,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,-17530.027
$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,2550
$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
$GPS1,224008,4745.153,-12249.715,13,1.9,18,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-59.0
$GPS2,225507,4745.168,-12249.700,36,1.1,40,18.3
$SPEED_LIMITS,0.122,0.202
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$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,204.8,209,-27.4,-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,29,end surface,CONTROL_FINISHED_OK
$STATE,29,begin dive
$GC,33,-2.79,-37.3,0.0,0.0,0,108,0.00,0.00,-72.05,0.000,2,0.000,0.000,426,2557,3287
$GC,112,-2.82,-64.4,2.2,-3.6,12,138,11.07,2.58,-6.25,0.000,4,0.165,0.082,2382,3927,3493
$GC,224,-2.82,-64.4,14.9,-13.0,29,230,0.00,2.38,0.00,0.000,6,0.000,0.033,2382,2529,3494
$GC,299,-2.82,-64.4,24.1,-13.3,38,300,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2530,3495
$GC,488,-2.82,-64.4,40.4,-7.5,53,489,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2529,3495
$GC,677,-2.82,-64.4,53.8,-7.4,68,682,0.00,2.60,0.00,0.000,4,0.000,0.067,2382,3921,3495
$GC,894,-2.82,-64.4,71.7,-7.6,84,901,0.00,2.33,0.00,0.000,6,0.000,0.033,2381,2547,3495
$GC,1091,-2.83,-67.5,85.6,-6.6,100,1093,0.00,0.00,-0.12,0.000,6,0.000,0.000,2382,2547,3512
$STATE,1213,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1213,begin apogee
$GC,1223,-0.50,0.0,95.3,7.5,110,1281,2.53,0.00,53.72,0.607,6,0.113,0.000,2886,2412,3231
$STATE,1282,end apogee,CONTROL_FINISHED_OK
$STATE,1282,begin climb
$GC,1286,2.83,67.5,96.8,0.0,115,1347,3.33,2.62,51.38,0.591,4,0.056,0.063,3625,3812,2953
$GC,1361,2.83,67.5,89.8,13.5,121,1366,0.00,2.42,0.00,0.000,6,0.000,0.031,3625,2418,2952
$GC,1558,2.83,67.5,58.5,15.9,136,1562,0.00,2.50,0.00,0.000,4,0.000,0.053,3625,1021,2951
$GC,1650,2.83,67.5,43.3,16.0,142,1656,0.00,2.42,0.00,0.000,6,0.000,0.034,3625,2420,2951
$GC,1847,2.83,67.5,17.1,10.9,160,1853,0.00,0.00,0.00,0.000,6,0.000,0.000,3625,2422,2951
$GC,1921,2.83,67.5,10.4,9.2,171,1928,0.00,2.53,0.00,0.000,4,0.000,0.051,3625,1014,2951
$GC,1988,2.83,67.5,2.9,11.6,181,1994,0.00,2.45,0.00,0.000,6,0.000,0.035,3625,2424,2951
$STATE,1999,end climb,SURFACE_DEPTH_REACHED
$STATE,1999,begin surface coast
$FINISH,0.2,1.028032
$STATE,2019,end surface coast,CONTROL_FINISHED_OK
$STATE,2019,begin surface
$SM_CCo,2054,159.95,0.518,0,0,1597,400.08
$SM_GC,0.73,0.00,0.00,159.95,0.000,0.000,0.518,424,2560,1597,-11.85,0.28,400.08
$IRIDIUM_FIX,4729.30,-12252.58,081007,020218
$TT8_MAMPS,0.070564
$HUMID,1758
$INTERNAL_PRESSURE,9.32999
$TCM_TEMP,20.00
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,70.1,999.0
$24V_AH,24.1,37.036
$10V_AH,10.1,29.281
$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,31.150,25.250,105.100,159.950,0.000,111.187,165.351,279.214,2.000,0.000,3204.000,40.140,373.715,1197.941,365.230,375.069,810.868,0.000,582.584,0.000,345.635,0.000,7.134
$DEVICE_MAMPS,164.905,82.069,606.697,517.725,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,128.765,0.000,0.000,0.000,0.000,0.000,0.000,3204.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,19.122,51.000
$DATA_FILE_SIZE,3326,186
$CFSIZE,260034560,243355648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,233320,4745.052,-12249.879,13,1.4,13,18.3