version: 66.02
glider: 118
mission: 6
dive: 481
start: 10 8 107 7 16 59
data:
$ID,118
$MISSION,6
$DIVE,481
$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,-17513.986
$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,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
$GPS1,070839,4745.085,-12249.877,11,1.6,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-60.6
$GPS2,071641,4745.070,-12249.903,10,2.1,29,18.3
$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,13.4,208,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,31,-2.79,-37.3,0.0,0.0,0,99,0.00,0.00,-65.72,0.000,2,0.000,0.000,427,2539,3166
$GC,103,-2.83,-71.5,2.0,-2.7,11,134,11.05,2.60,-11.88,0.000,4,0.164,0.080,2379,3925,3522
$GC,346,-2.83,-71.5,28.0,-9.0,42,352,0.00,2.35,0.00,0.000,6,0.000,0.033,2379,2540,3524
$GC,542,-2.83,-71.5,43.3,-7.8,58,547,0.00,2.60,0.00,0.000,4,0.000,0.067,2379,3930,3525
$GC,719,-2.83,-71.5,58.2,-8.8,71,725,0.00,2.35,0.00,0.000,6,0.000,0.033,2379,2546,3525
$GC,916,-2.83,-71.5,73.9,-7.7,87,917,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2545,3525
$GC,1108,-2.83,-71.5,88.9,-7.9,102,1113,0.00,2.58,0.00,0.000,4,0.000,0.066,2379,3924,3525
$STATE,1176,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1176,begin apogee
$GC,1188,-0.50,0.0,95.2,8.4,107,1248,2.53,0.00,55.60,0.606,6,0.112,0.000,2886,2412,3229
$STATE,1250,end apogee,CONTROL_FINISHED_OK
$STATE,1250,begin climb
$GC,1253,2.83,71.5,96.6,0.0,112,1314,3.33,0.00,53.95,0.590,6,0.055,0.000,3618,2412,2937
$GC,1499,2.83,71.5,62.0,16.7,132,1503,0.00,2.47,0.00,0.000,4,0.000,0.051,3618,1030,2936
$GC,1634,2.83,71.5,40.4,16.0,141,1640,0.00,2.40,0.00,0.000,6,0.000,0.034,3618,2415,2936
$GC,1833,2.83,71.5,10.0,12.3,162,1838,0.00,0.00,0.00,0.000,6,0.000,0.000,3618,2415,2936
$GC,1906,2.83,71.5,3.1,8.8,173,1912,0.00,2.58,0.00,0.000,4,0.000,0.068,3617,3816,2936
$STATE,1916,end climb,SURFACE_DEPTH_REACHED
$STATE,1916,begin surface coast
$FINISH,0.2,1.027934
$STATE,1937,end surface coast,CONTROL_FINISHED_OK
$STATE,1937,begin surface
$SM_CCo,1974,152.88,0.516,0,0,1598,400.08
$SM_GC,1.00,0.00,0.00,152.88,0.000,0.000,0.516,428,2539,1598,-11.83,-0.31,400.08
$IRIDIUM_FIX,4729.30,-12252.58,081007,101041
$TT8_MAMPS,0.06903
$HUMID,1775
$INTERNAL_PRESSURE,9.34952
$TCM_TEMP,19.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.0,999.0
$24V_AH,24.1,37.739
$10V_AH,10.1,29.935
$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,31.375,24.750,109.550,152.875,0.000,41.153,50.000,197.338,1.250,0.000,2698.000,32.968,354.018,1018.941,361.233,361.991,522.657,0.000,572.235,0.000,346.222,0.000,10.438
$DEVICE_MAMPS,164.138,79.768,605.930,516.191,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,123.214,0.000,0.000,0.000,0.000,0.000,0.000,2698.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,19.122,51.000
$DATA_FILE_SIZE,3323,178
$CFSIZE,260034560,243064832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081007,075355,4745.181,-12249.787,31,1.7,41,18.3