version: 66.02
glider: 118
mission: 6
dive: 520
start: 10 9 107 7 37 13
data:
$ID,118
$MISSION,6
$DIVE,520
$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,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,-17874.469
$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,31
$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
$GPS1,071951,4745.128,-12249.814,13,1.9,13,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-60.2
$GPS2,073656,4745.042,-12249.817,16,1.6,34,18.3
$SPEED_LIMITS,0.115,0.198
$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,342.4,230,-27.3,-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,29,end surface,CONTROL_FINISHED_OK
$STATE,29,begin dive
$GC,34,-2.78,-34.4,0.0,0.0,0,108,0.00,0.00,-71.22,0.000,2,0.000,0.000,427,2564,3265
$GC,112,-2.81,-58.1,2.2,-3.6,12,137,11.02,2.53,-6.60,0.000,4,0.163,0.058,2382,1156,3468
$GC,152,-2.81,-61.4,5.0,-6.2,18,159,0.00,2.42,-0.32,0.000,6,0.000,0.034,2382,2551,3481
$GC,229,-2.81,-61.4,13.4,-11.2,29,234,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2550,3482
$GC,302,-2.81,-61.4,20.0,-8.1,40,308,0.00,2.53,0.00,0.000,4,0.000,0.069,2382,3922,3481
$GC,343,-2.81,-61.4,23.1,-7.8,44,347,0.00,2.33,0.00,0.000,6,0.000,0.033,2382,2550,3482
$GC,540,-2.81,-61.4,37.0,-7.1,59,544,0.00,2.55,0.00,0.000,4,0.000,0.067,2382,3932,3482
$GC,619,-2.81,-61.4,43.2,-7.6,64,625,0.00,2.35,0.00,0.000,6,0.000,0.034,2382,2546,3482
$GC,816,-2.81,-61.4,57.5,-7.4,80,821,0.00,2.55,0.00,0.000,4,0.000,0.067,2382,3927,3482
$GC,1004,-2.81,-61.4,72.4,-8.1,93,1010,0.00,2.35,0.00,0.000,6,0.000,0.034,2382,2541,3482
$GC,1200,-2.81,-61.4,86.8,-7.1,109,1205,0.00,2.45,0.00,0.000,4,0.000,0.047,2383,1172,3482
$GC,1227,-2.81,-61.4,88.7,-7.1,111,1232,0.00,2.38,0.00,0.000,6,0.000,0.033,2382,2552,3482
$STATE,1245,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1245,begin apogee
$GC,1254,-0.50,0.0,90.2,7.2,112,1309,2.50,0.00,47.58,0.600,6,0.111,0.000,2886,2405,3229
$STATE,1310,end apogee,CONTROL_FINISHED_OK
$STATE,1310,begin climb
$GC,1315,2.81,61.4,91.6,0.0,117,1367,3.25,0.00,46.25,0.585,6,0.052,0.000,3613,2405,2978
$GC,1567,2.81,61.4,59.7,14.1,137,1571,0.00,2.47,0.00,0.000,4,0.000,0.051,3613,1029,2976
$GC,1619,2.81,61.4,51.8,15.3,140,1626,0.00,2.40,0.00,0.000,6,0.000,0.034,3613,2414,2976
$GC,1817,2.81,61.4,24.4,13.7,156,1818,0.00,0.00,0.00,0.000,6,0.000,0.000,3613,2414,2976
$GC,2013,2.81,61.4,2.6,7.4,183,2019,0.00,0.00,0.00,0.000,6,0.000,0.000,3613,2414,2976
$STATE,2022,end climb,SURFACE_DEPTH_REACHED
$STATE,2023,begin surface coast
$FINISH,0.1,1.027567
$STATE,2050,end surface coast,CONTROL_FINISHED_OK
$STATE,2050,begin surface
$SM_CCo,2086,156.48,0.513,0,0,1597,400.08
$SM_GC,0.77,0.00,0.00,156.48,0.000,0.000,0.513,427,2561,1597,-11.84,0.31,400.08
$IRIDIUM_FIX,4729.30,-12249.89,091007,111144
$TT8_MAMPS,0.068263
$HUMID,1761
$INTERNAL_PRESSURE,9.34952
$TCM_TEMP,19.90
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,65.3,999.0
$24V_AH,24.2,40.461
$10V_AH,10.1,31.944
$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,31.250,29.775,93.825,156.475,0.000,161.092,324.009,154.407,2.000,0.000,3319.000,34.760,381.332,1255.632,353.096,381.631,906.664,0.000,584.393,0.000,364.980,0.000,7.131
$DEVICE_MAMPS,163.371,69.030,599.794,513.123,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,130.781,0.000,0.000,0.000,0.000,0.000,0.000,3319.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,19.122,51.000
$DATA_FILE_SIZE,3328,189
$CFSIZE,260034560,242032640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091007,081602,4745.180,-12249.801,38,2.0,38,18.3