version: 66.02
glider: 118
mission: 6
dive: 458
start: 10 7 107 11 55 26
data:
$ID,118
$MISSION,6
$DIVE,458
$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,-17491.93
$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,50
$R_STBD_OVSHOOT,27
$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
$GPS1,113832,4745.219,-12249.959,13,1.8,30,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-56.7
$GPS2,115508,4745.340,-12250.023,14,1.7,14,18.3
$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,132.9,538,-16.0,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,30,-1.72,-104.6,0.0,0.0,0,103,0.00,0.00,-71.53,0.000,2,0.000,0.000,427,2536,3268
$GC,108,-1.73,-107.5,2.2,-3.3,12,139,12.27,2.60,-12.27,0.000,4,0.161,0.081,2613,3924,3668
$GC,176,-1.73,-107.5,7.4,-8.5,22,182,0.00,2.35,0.00,0.000,6,0.000,0.034,2613,2547,3669
$GC,249,-1.73,-107.5,14.3,-8.8,33,256,0.00,2.45,0.00,0.000,4,0.000,0.048,2613,1170,3670
$GC,296,-1.73,-107.5,18.3,-8.7,40,302,0.00,2.40,0.00,0.000,6,0.000,0.033,2613,2557,3670
$GC,367,-1.73,-107.5,24.2,-8.2,47,371,0.00,2.53,0.00,0.000,4,0.000,0.071,2613,3924,3671
$GC,572,-1.73,-107.5,40.8,-8.0,62,576,0.00,2.35,0.00,0.000,6,0.000,0.034,2613,2549,3671
$GC,769,-1.73,-107.5,54.9,-7.0,77,770,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2544,3671
$GC,961,-1.73,-107.5,67.8,-6.5,92,962,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2543,3671
$GC,1148,-1.73,-107.5,80.7,-6.5,107,1152,0.00,2.58,0.00,0.000,4,0.000,0.068,2613,3934,3671
$GC,1240,-1.73,-107.5,87.6,-7.2,113,1246,0.00,2.35,0.00,0.000,6,0.000,0.035,2613,2540,3671
$STATE,1358,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1358,begin apogee
$GC,1367,-0.50,0.0,95.8,7.1,123,1457,1.33,0.00,82.95,0.602,6,0.095,0.000,2885,2415,3229
$STATE,1458,end apogee,CONTROL_FINISHED_OK
$STATE,1458,begin climb
$GC,1462,1.73,107.5,97.9,0.0,131,1551,2.25,2.53,80.97,0.584,4,0.060,0.053,3372,1041,2789
$GC,1573,1.73,107.5,90.6,9.7,140,1578,0.00,2.40,0.00,0.000,6,0.000,0.033,3372,2416,2789
$GC,1771,1.73,107.5,70.0,10.5,155,1772,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,2416,2788
$GC,1962,1.73,107.5,49.8,11.1,170,1967,0.00,2.50,0.00,0.000,4,0.000,0.052,3372,1031,2788
$GC,2001,1.73,107.5,44.9,11.7,172,2008,0.00,2.40,0.00,0.000,6,0.000,0.034,3372,2415,2787
$GC,2198,1.73,107.5,25.3,9.8,188,2203,0.00,2.47,0.00,0.000,4,0.000,0.052,3372,1041,2788
$GC,2219,1.73,107.5,23.3,9.1,189,2223,0.00,2.40,0.00,0.000,6,0.000,0.034,3372,2423,2788
$GC,2422,1.73,107.5,6.0,9.2,216,2429,0.00,2.58,0.00,0.000,4,0.000,0.070,3372,3824,2787
$STATE,2472,end climb,SURFACE_DEPTH_REACHED
$STATE,2472,begin surface coast
$FINISH,0.2,1.019209
$STATE,2503,end surface coast,CONTROL_FINISHED_OK
$STATE,2503,begin surface
$SM_CCo,2535,131.10,0.519,0,0,1597,400.08
$SM_GC,0.79,0.00,0.00,131.10,0.000,0.000,0.519,427,2546,1597,-11.84,-0.11,400.08
$IRIDIUM_FIX,4729.30,-12251.62,071007,151533
$TT8_MAMPS,0.067496
$HUMID,1781
$INTERNAL_PRESSURE,9.33976
$TCM_TEMP,19.90
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,70.5,999.0
$24V_AH,24.1,36.083
$10V_AH,10.1,28.416
$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,28.825,39.250,163.925,131.100,0.000,153.827,235.280,245.589,1.750,0.000,3761.000,14.947,438.718,1516.717,390.346,425.452,900.431,0.000,659.153,0.000,428.695,0.000,7.134
$DEVICE_MAMPS,161.070,80.535,602.095,519.259,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,157.874,0.000,0.000,0.000,0.000,0.000,0.000,3761.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,19.122,51.000
$DATA_FILE_SIZE,6462,228
$CFSIZE,260034560,243765248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,124051,4745.189,-12249.882,11,1.6,11,18.3