version: 66.02
glider: 118
mission: 6
dive: 442
start: 10 6 107 20 31 14
data:
$ID,118
$MISSION,6
$DIVE,442
$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,-17504.061
$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,46
$R_STBD_OVSHOOT,22
$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
$GPS1,202231,4745.232,-12249.725,37,1.2,43,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-50.9
$GPS2,203056,4745.366,-12249.641,13,1.5,13,18.3
$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,184.4,562,-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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,32,-1.70,-107.5,0.0,0.0,0,101,0.00,0.00,-66.30,0.000,2,0.000,0.000,423,2512,3169
$GC,105,-1.70,-107.5,2.1,-3.1,11,143,12.32,2.55,-16.25,0.000,4,0.160,0.060,2621,1114,3669
$GC,157,-1.70,-107.5,5.2,-5.5,19,164,0.00,2.42,0.00,0.000,6,0.000,0.035,2621,2505,3669
$GC,233,-1.70,-107.5,10.4,-7.2,30,238,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2506,3670
$GC,306,-1.70,-107.5,15.5,-6.7,41,312,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2506,3671
$GC,380,-1.70,-107.5,20.5,-6.8,52,381,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2506,3670
$GC,572,-1.70,-107.5,33.3,-6.8,67,573,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2506,3672
$GC,763,-1.70,-107.5,46.4,-7.0,82,768,0.00,2.58,0.00,0.000,4,0.000,0.071,2621,3904,3671
$GC,855,-1.70,-107.5,53.7,-7.2,88,862,0.00,2.42,0.00,0.000,6,0.000,0.034,2621,2497,3671
$GC,1052,-1.70,-107.5,67.2,-6.9,104,1056,0.00,2.60,0.00,0.000,4,0.000,0.067,2621,3899,3671
$GC,1131,-1.70,-107.5,73.1,-7.3,109,1137,0.00,2.38,0.00,0.000,6,0.000,0.035,2621,2496,3671
$GC,1327,-1.70,-107.5,86.6,-7.1,125,1331,0.00,2.60,0.00,0.000,4,0.000,0.067,2621,3899,3671
$GC,1427,-1.70,-107.5,93.9,-7.4,132,1431,0.00,2.38,0.00,0.000,6,0.000,0.034,2621,2504,3671
$STATE,1444,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1444,begin apogee
$GC,1452,-0.50,0.0,95.3,7.1,133,1543,1.27,0.00,82.90,0.598,6,0.093,0.000,2884,2417,3228
$STATE,1544,end apogee,CONTROL_FINISHED_OK
$STATE,1544,begin climb
$GC,1548,1.70,107.5,97.4,0.0,141,1634,2.22,0.00,80.97,0.582,6,0.062,0.000,3366,2417,2790
$GC,1818,1.70,107.5,74.8,9.9,163,1819,0.00,0.00,0.00,0.000,6,0.000,0.000,3366,2417,2788
$GC,2010,1.70,107.5,55.7,10.2,178,2011,0.00,0.00,0.00,0.000,6,0.000,0.000,3366,2417,2789
$GC,2202,1.70,107.5,37.1,9.6,193,2206,0.00,2.50,0.00,0.000,4,0.000,0.053,3366,1028,2788
$GC,2254,1.70,107.5,31.3,10.1,196,2261,0.00,2.40,0.00,0.000,6,0.000,0.035,3366,2414,2788
$GC,2454,1.70,107.5,11.7,9.8,218,2460,0.00,2.50,0.00,0.000,4,0.000,0.052,3366,1030,2788
$STATE,2550,end climb,SURFACE_DEPTH_REACHED
$STATE,2550,begin surface coast
$FINISH,0.1,1.010060
$STATE,2577,end surface coast,CONTROL_FINISHED_OK
$STATE,2577,begin surface
$SM_CCo,2612,129.95,0.516,0,0,1598,400.08
$SM_GC,0.74,0.00,0.00,129.95,0.000,0.000,0.516,428,2515,1598,-11.83,0.40,400.08
$IRIDIUM_FIX,4729.30,-12248.15,061007,232307
$TT8_MAMPS,0.067496
$HUMID,1789
$INTERNAL_PRESSURE,9.32999
$TCM_TEMP,19.90
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,70.1,999.0
$24V_AH,24.1,34.878
$10V_AH,10.1,27.224
$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,28.825,30.050,163.875,129.950,0.000,37.501,36.110,251.839,1.750,0.000,3360.000,13.964,454.920,1395.029,402.309,416.969,588.803,0.000,660.940,0.000,427.700,0.000,7.134
$DEVICE_MAMPS,160.303,71.331,598.260,516.191,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,164.054,0.000,0.000,0.000,0.000,0.000,0.000,3360.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,19.122,51.000
$DATA_FILE_SIZE,6464,237
$CFSIZE,260034560,244248576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,211757,4745.267,-12249.796,13,1.4,13,18.3