version: 66.02
glider: 118
mission: 6
dive: 552
start: 10 10 107 3 17 55
data:
$ID,118
$MISSION,6
$DIVE,552
$D_SURF,2
$D_FLARE,2
$D_TGT,90
$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,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,-18110.748
$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,33
$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
$GPS1,030005,4745.975,-12249.913,12,4.3,31,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-55.9
$GPS2,031738,4746.076,-12249.846,16,2.0,16,18.3
$SPEED_LIMITS,0.115,0.198
$TGT_NAME,2_AC
$TGT_LATLONG,4745.672,-12250.034
$TGT_RADIUS,300.000
$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,179.1,785,-14.9,-6.667
$D_GRID,90
$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,30,end surface,CONTROL_FINISHED_OK
$STATE,30,begin dive
$GC,35,-1.62,-107.5,0.0,0.0,0,109,0.00,0.00,-71.15,0.000,2,0.000,0.000,423,2569,3250
$GC,114,-1.62,-107.5,2.1,-3.8,12,145,12.43,2.53,-12.85,0.000,4,0.158,0.056,2636,1162,3667
$GC,183,-1.62,-107.5,7.2,-8.1,22,189,0.00,2.42,0.00,0.000,6,0.000,0.034,2636,2555,3668
$GC,257,-1.62,-107.5,13.2,-7.2,33,263,0.00,2.55,0.00,0.000,4,0.000,0.071,2636,3925,3669
$GC,367,-1.62,-107.5,21.3,-6.8,48,372,0.00,2.40,0.00,0.000,6,0.000,0.035,2636,2544,3669
$GC,571,-1.62,-107.5,34.4,-6.5,64,572,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2543,3670
$GC,764,-1.62,-107.5,46.8,-6.5,79,770,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2543,3670
$GC,964,-1.62,-107.5,59.1,-6.1,95,969,0.00,2.58,0.00,0.000,4,0.000,0.067,2636,3924,3670
$GC,1012,-1.62,-107.5,62.6,-7.0,98,1016,0.00,2.38,0.00,0.000,6,0.000,0.035,2637,2541,3670
$GC,1209,-1.62,-107.5,75.2,-6.2,113,1213,0.00,2.60,0.00,0.000,4,0.000,0.068,2636,3933,3670
$GC,1301,-1.62,-107.5,81.5,-6.8,119,1308,0.00,2.45,0.00,0.000,6,0.000,0.035,2636,2550,3670
$STATE,1444,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1448,begin apogee
$GC,1458,-0.50,0.0,90.7,6.0,131,1548,1.20,0.00,83.20,0.591,6,0.091,0.000,2883,2411,3229
$STATE,1549,end apogee,CONTROL_FINISHED_OK
$STATE,1549,begin climb
$GC,1553,1.62,107.5,92.8,0.0,139,1645,2.17,0.00,81.38,0.575,6,0.061,0.000,3353,2411,2790
$GC,1835,1.62,107.5,69.7,9.4,162,1836,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,2410,2789
$GC,2028,1.62,107.5,51.0,10.1,177,2033,0.00,0.00,0.00,0.000,6,0.000,0.000,3352,2410,2788
$GC,2229,1.62,107.5,31.3,9.7,193,2233,0.00,2.50,0.00,0.000,4,0.000,0.053,3353,1029,2788
$GC,2321,1.62,107.5,21.7,10.3,199,2328,0.00,2.42,0.00,0.000,6,0.000,0.035,3353,2420,2788
$GC,2527,1.64,123.6,5.1,6.0,229,2547,0.00,2.62,11.38,0.559,4,0.000,0.067,3353,3825,2724
$STATE,2571,end climb,SURFACE_DEPTH_REACHED
$STATE,2571,begin surface coast
$FINISH,-0.1,1.021161
$STATE,2598,end surface coast,CONTROL_FINISHED_OK
$STATE,2598,begin surface
$SM_CCo,2632,246.82,0.502,0,0,540,659.61
$SM_GC,0.52,0.00,0.00,246.82,0.000,0.000,0.502,426,2545,540,-11.84,-0.14,659.61
$IRIDIUM_FIX,4729.30,-12252.58,101007,070739
$TT8_MAMPS,0.067496
$HUMID,1773
$INTERNAL_PRESSURE,9.2421
$TCM_TEMP,17.90
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,65.6,999.0
$24V_AH,23.6,42.914
$10V_AH,10.1,33.585
$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,28.800,29.875,175.950,246.825,0.000,196.196,437.721,0.000,1.750,123.690,3790.310,16.927,442.741,1641.850,527.115,404.938,922.506,0.000,785.563,0.000,422.937,0.000,7.137
$DEVICE_MAMPS,158.002,70.564,591.357,502.385,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,166.107,0.000,0.000,0.000,0.000,0.000,0.000,3914.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,19.122,51.000
$DATA_FILE_SIZE,6459,240
$CFSIZE,260034560,241184768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101007,040717,4745.877,-12249.929,14,2.2,33,18.3