version: 66.02
glider: 118
mission: 6
dive: 479
start: 10 8 107 5 40 57
data:
$ID,118
$MISSION,6
$DIVE,479
$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,-17503.463
$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,47
$R_STBD_OVSHOOT,29
$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
$GPS1,052908,4745.137,-12249.818,8,1.3,8,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-60.0
$GPS2,054039,4745.105,-12249.868,12,1.4,12,18.3
$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,100.6,76,-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,34,-2.79,-37.3,0.0,0.0,0,102,0.00,0.00,-66.15,0.000,2,0.000,0.000,424,2564,3174
$GC,107,-2.83,-71.5,2.1,-2.7,11,138,11.05,2.58,-11.62,0.000,4,0.163,0.081,2378,3921,3523
$GC,277,-2.83,-71.5,22.0,-14.4,36,281,0.00,2.35,0.00,0.000,6,0.000,0.032,2378,2545,3524
$GC,475,-2.83,-71.5,38.9,-7.7,51,479,0.00,2.42,0.00,0.000,4,0.000,0.046,2378,1165,3525
$GC,593,-2.83,-71.5,48.5,-7.5,59,599,0.00,2.40,0.00,0.000,6,0.000,0.033,2378,2554,3525
$GC,790,-2.83,-71.5,63.7,-7.6,75,795,0.00,2.53,0.00,0.000,4,0.000,0.067,2378,3923,3525
$GC,986,-2.83,-71.5,80.1,-8.0,89,990,0.00,2.35,0.00,0.000,6,0.000,0.033,2378,2540,3525
$STATE,1179,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1179,begin apogee
$GC,1188,-0.50,0.0,95.8,7.7,104,1249,2.55,0.00,55.83,0.605,6,0.114,0.000,2887,2411,3229
$STATE,1250,end apogee,CONTROL_FINISHED_OK
$STATE,1250,begin climb
$GC,1254,2.83,71.5,97.1,0.0,109,1322,3.30,2.58,53.78,0.590,4,0.054,0.051,3617,1028,2937
$GC,1382,2.83,71.5,81.5,16.5,119,1388,0.00,2.42,0.00,0.000,6,0.000,0.035,3617,2421,2936
$GC,1578,2.83,71.5,50.2,15.9,135,1579,0.00,0.00,0.00,0.000,6,0.000,0.000,3617,2421,2935
$GC,1771,2.83,71.5,20.5,14.9,150,1776,0.00,2.50,0.00,0.000,4,0.000,0.051,3617,1031,2936
$STATE,1943,end climb,SURFACE_DEPTH_REACHED
$STATE,1943,begin surface coast
$FINISH,0.2,1.027985
$STATE,1964,end surface coast,CONTROL_FINISHED_OK
$STATE,1964,begin surface
$SM_CCo,1997,153.50,0.517,0,0,1597,400.08
$SM_GC,0.82,0.00,0.00,153.50,0.000,0.000,0.517,426,2555,1597,-11.84,0.17,400.08
$IRIDIUM_FIX,4726.11,-12252.58,081007,090953
$TT8_MAMPS,0.067496
$HUMID,1766
$INTERNAL_PRESSURE,9.32999
$TCM_TEMP,19.90
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,70.6,999.0
$24V_AH,24.1,37.611
$10V_AH,10.1,29.810
$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,31.150,25.000,109.600,153.500,0.000,81.512,170.030,203.726,2.000,0.000,2922.000,12.682,358.314,1104.100,354.261,345.211,690.066,0.000,565.672,0.000,348.097,0.000,7.131
$DEVICE_MAMPS,163.371,81.302,605.163,516.958,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,123.216,0.000,0.000,0.000,0.000,0.000,0.000,2922.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,19.122,51.000
$DATA_FILE_SIZE,3296,178
$CFSIZE,260034560,243122176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081007,061807,4744.991,-12249.729,14,0.9,31,18.3