version: 66.02
glider: 118
mission: 6
dive: 417
start: 10 6 107 2 38 56
data:
$ID,118
$MISSION,6
$DIVE,417
$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,90
$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,25
$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,-17374.129
$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,2500
$C_ROLL_CLIMB,2415
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,17
$R_PORT_OVSHOOT,45
$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
$GPS1,022750,4741.772,-12251.157,14,1.4,31,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-61.5
$GPS2,023839,4741.740,-12251.179,12,1.8,12,18.3
$SPEED_LIMITS,0.151,0.202
$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,357.0,6425,-15.7,-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,-1.70,-107.5,0.0,0.0,0,100,0.00,0.00,-66.43,0.000,2,0.000,0.000,425,2514,3214
$GC,104,-1.70,-107.5,2.4,-3.9,11,136,12.30,2.58,-13.23,0.000,4,0.161,0.061,2621,1112,3668
$GC,386,-1.70,-107.5,25.8,-7.9,48,393,0.00,2.40,0.00,0.000,6,0.000,0.033,2621,2496,3671
$GC,583,-1.70,-107.5,41.8,-7.9,64,585,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2497,3671
$GC,775,-1.70,-107.5,56.1,-7.5,79,776,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2495,3671
$GC,968,-1.70,-107.5,70.1,-7.2,94,972,0.00,2.60,0.00,0.000,4,0.000,0.071,2621,3904,3671
$GC,1008,-1.70,-107.5,73.6,-8.1,97,1012,0.00,2.40,0.00,0.000,6,0.000,0.034,2620,2495,3671
$GC,1205,-1.70,-107.5,87.0,-6.9,112,1209,0.00,2.60,0.00,0.000,4,0.000,0.067,2621,3897,3671
$STATE,1306,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1306,begin apogee
$GC,1320,-0.50,0.0,95.1,7.7,119,1411,1.27,0.00,82.55,0.596,6,0.092,0.000,2885,2404,3229
$STATE,1412,end apogee,CONTROL_FINISHED_OK
$STATE,1412,begin climb
$GC,1416,1.70,107.5,96.7,0.0,127,1507,2.22,2.55,81.05,0.580,4,0.058,0.052,3369,1036,2790
$GC,1561,1.70,107.5,85.2,11.5,139,1566,0.00,2.42,0.00,0.000,6,0.000,0.034,3369,2408,2789
$GC,1764,1.70,107.5,64.2,10.3,155,1768,0.00,2.60,0.00,0.000,4,0.000,0.067,3369,3819,2789
$GC,1842,1.70,107.5,55.3,11.1,160,1849,0.00,2.42,0.00,0.000,6,0.000,0.032,3369,2417,2789
$GC,2039,1.70,107.5,35.3,10.3,176,2043,0.00,2.53,0.00,0.000,4,0.000,0.054,3369,1022,2788
$GC,2099,1.70,107.5,29.1,10.3,180,2105,0.00,2.42,0.00,0.000,6,0.000,0.035,3369,2420,2788
$GC,2300,1.70,107.5,9.5,9.4,204,2306,0.00,2.53,0.00,0.000,4,0.000,0.052,3369,1013,2789
$STATE,2392,end climb,SURFACE_DEPTH_REACHED
$STATE,2393,begin surface coast
$FINISH,0.4,1.027703
$STATE,2417,end surface coast,CONTROL_FINISHED_OK
$STATE,2417,begin surface
$SM_CCo,2451,143.43,0.518,0,0,1597,400.08
$SM_GC,1.02,0.00,0.00,143.43,0.000,0.000,0.518,425,2501,1597,-11.85,0.03,400.08
$IRIDIUM_FIX,4726.11,-12253.53,061007,060627
$TT8_MAMPS,0.067496
$HUMID,1792
$INTERNAL_PRESSURE,9.33976
$TCM_TEMP,19.90
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,70.1,999.0
$24V_AH,24.1,32.972
$10V_AH,10.1,25.768
$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,28.875,35.275,163.600,143.425,0.000,81.127,120.136,220.741,1.500,0.000,3331.000,12.468,422.705,1352.156,402.987,408.253,667.396,0.000,656.268,0.000,415.060,0.000,10.116
$DEVICE_MAMPS,161.070,71.331,595.959,517.725,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,153.561,0.000,0.000,0.000,0.000,0.000,0.000,3331.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,19.122,51.000
$DATA_FILE_SIZE,6453,222
$CFSIZE,260034560,244961280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,032328,4741.919,-12251.117,10,5.0,29,18.3