version: 66.02
glider: 118
mission: 6
dive: 472
start: 10 7 107 23 55 3
data:
$ID,118
$MISSION,6
$DIVE,472
$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,-17520.943
$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,35
$R_STBD_OVSHOOT,30
$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
$GPS1,233320,4745.052,-12249.879,13,1.4,13,18.3
$_CALLS,4
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-58.6
$GPS2,235445,4745.062,-12249.864,11,1.7,11,18.3
$SPEED_LIMITS,0.122,0.202
$TGT_NAME,FIVE_B
$TGT_LATLONG,4745.166,-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,359.2,203,-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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,31,-2.79,-37.3,0.0,0.0,0,105,0.00,0.00,-72.20,0.000,2,0.000,0.000,424,2560,3291
$GC,110,-2.82,-63.3,2.2,-3.8,12,135,11.07,2.55,-6.10,0.000,4,0.165,0.082,2379,3923,3490
$GC,149,-2.82,-63.3,5.6,-7.6,18,156,0.00,2.38,0.00,0.000,6,0.000,0.033,2380,2526,3491
$GC,225,-2.82,-63.3,14.2,-11.7,29,231,0.00,2.40,0.00,0.000,4,0.000,0.047,2382,1170,3492
$GC,482,-2.82,-63.3,40.3,-7.7,52,489,0.00,2.38,0.00,0.000,6,0.000,0.034,2379,2550,3493
$GC,678,-2.82,-63.3,54.9,-7.5,68,683,0.00,2.45,0.00,0.000,4,0.000,0.045,2379,1164,3493
$GC,864,-2.82,-63.3,69.1,-7.3,81,871,0.00,2.42,0.00,0.000,6,0.000,0.034,2380,2550,3493
$GC,1061,-2.82,-63.3,83.5,-7.3,97,1065,0.00,2.53,0.00,0.000,4,0.000,0.069,2380,3928,3493
$GC,1182,-2.82,-63.3,92.6,-8.0,105,1188,0.00,2.33,0.00,0.000,6,0.000,0.034,2379,2548,3494
$STATE,1211,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1211,begin apogee
$GC,1220,-0.50,0.0,95.2,7.5,108,1275,2.53,0.00,49.70,0.607,6,0.111,0.000,2885,2411,3229
$STATE,1276,end apogee,CONTROL_FINISHED_OK
$STATE,1276,begin climb
$GC,1280,2.82,63.3,96.4,0.0,113,1335,3.33,0.00,47.85,0.594,6,0.055,0.000,3620,2411,2969
$GC,1525,2.82,63.3,65.0,14.4,133,1529,0.00,2.47,0.00,0.000,4,0.000,0.051,3620,1033,2968
$GC,1611,2.82,63.3,51.7,16.3,139,1616,0.00,2.42,0.00,0.000,6,0.000,0.035,3620,2408,2968
$GC,1814,2.82,63.3,21.7,14.1,155,1815,0.00,0.00,0.00,0.000,6,0.000,0.000,3620,2408,2968
$GC,2011,2.82,63.3,3.3,8.1,183,2018,0.00,2.47,0.00,0.000,4,0.000,0.052,3620,1031,2968
$STATE,2029,end climb,SURFACE_DEPTH_REACHED
$STATE,2029,begin surface coast
$FINISH,0.2,1.028027
$STATE,2049,end surface coast,CONTROL_FINISHED_OK
$STATE,2049,begin surface
$SM_CCo,2086,161.88,0.519,0,0,1598,400.08
$SM_GC,0.74,0.00,0.00,161.88,0.000,0.000,0.519,429,2555,1598,-11.83,0.14,400.08
$IRIDIUM_FIX,4729.30,-12248.15,081007,030353
$TT8_MAMPS,0.067496
$HUMID,1756
$INTERNAL_PRESSURE,9.32999
$TCM_TEMP,19.90
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,70.5,999.0
$24V_AH,24.1,37.129
$10V_AH,10.1,29.361
$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,31.275,29.700,97.550,161.875,0.000,152.420,330.866,428.466,3.000,0.000,3607.000,11.595,381.491,1251.496,365.139,375.176,1170.498,0.000,593.236,0.000,379.697,0.000,7.133
$DEVICE_MAMPS,164.905,82.069,606.697,519.259,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,130.857,0.000,0.000,0.000,0.000,0.000,0.000,3607.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,19.122,51.000
$DATA_FILE_SIZE,3301,189
$CFSIZE,260034560,243318784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081007,003333,4745.171,-12249.881,13,1.9,13,18.3