version: 66.02
glider: 118
mission: 6
dive: 522
start: 10 9 107 9 13 46
data:
$ID,118
$MISSION,6
$DIVE,522
$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,-17880.854
$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,26
$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
$GPS1,090531,4745.060,-12249.921,32,1.7,42,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-60.5
$GPS2,091326,4745.025,-12249.917,15,1.6,32,18.3
$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,7.6,290,-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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,32,-2.78,-34.4,0.0,0.0,0,100,0.00,0.00,-65.57,0.000,2,0.000,0.000,429,2551,3140
$GC,105,-2.81,-62.9,2.0,-3.0,11,136,11.00,2.50,-12.52,0.000,4,0.163,0.059,2382,1161,3488
$GC,173,-2.81,-62.9,6.0,-8.4,21,179,0.00,2.42,0.00,0.000,6,0.000,0.034,2382,2557,3489
$GC,247,-2.81,-62.9,14.5,-10.0,32,252,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2557,3490
$GC,326,-2.81,-62.9,21.1,-8.0,43,327,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2557,3490
$GC,519,-2.81,-62.9,35.0,-7.5,58,523,0.00,2.53,0.00,0.000,4,0.000,0.069,2382,3925,3491
$GC,553,-2.81,-62.9,38.0,-8.3,60,557,0.00,2.35,0.00,0.000,6,0.000,0.032,2382,2540,3490
$GC,750,-2.81,-62.9,53.2,-7.7,75,755,0.00,2.60,0.00,0.000,4,0.000,0.067,2382,3926,3493
$GC,941,-2.81,-62.9,69.2,-8.6,89,947,0.00,2.33,0.00,0.000,6,0.000,0.034,2382,2549,3491
$GC,1138,-2.81,-62.9,83.7,-7.2,105,1142,0.00,2.45,0.00,0.000,4,0.000,0.046,2382,1156,3491
$GC,1185,-2.81,-62.9,87.2,-7.0,108,1189,0.00,2.42,0.00,0.000,6,0.000,0.033,2382,2560,3491
$STATE,1227,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1227,begin apogee
$GC,1237,-0.50,0.0,90.6,7.5,111,1292,2.53,0.00,49.05,0.600,6,0.111,0.000,2888,2415,3229
$STATE,1293,end apogee,CONTROL_FINISHED_OK
$STATE,1293,begin climb
$GC,1297,2.81,62.9,91.8,0.0,116,1358,3.28,2.58,47.38,0.585,4,0.051,0.050,3618,1030,2972
$GC,1491,2.81,62.9,66.7,15.7,131,1496,0.00,2.40,0.00,0.000,6,0.000,0.034,3617,2412,2970
$GC,1688,2.81,62.9,38.3,14.2,146,1693,0.00,2.60,0.00,0.000,4,0.000,0.069,3617,3807,2969
$GC,1743,2.81,62.9,30.3,15.0,150,1747,0.00,2.38,0.00,0.000,6,0.000,0.031,3618,2420,2969
$GC,1945,2.81,62.9,5.3,8.9,174,1951,0.00,2.47,0.00,0.000,4,0.000,0.051,3618,1022,2969
$STATE,1982,end climb,SURFACE_DEPTH_REACHED
$STATE,1982,begin surface coast
$FINISH,0.3,1.027674
$STATE,2005,end surface coast,CONTROL_FINISHED_OK
$STATE,2005,begin surface
$SM_CCo,2044,162.23,0.513,0,0,1597,400.08
$SM_GC,0.77,0.00,0.00,162.23,0.000,0.000,0.513,427,2553,1597,-11.84,0.06,400.08
$IRIDIUM_FIX,4726.11,-12248.15,091007,121242
$TT8_MAMPS,0.068263
$HUMID,1793
$INTERNAL_PRESSURE,9.33976
$TCM_TEMP,19.90
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,65.2,999.0
$24V_AH,24.2,40.581
$10V_AH,10.1,32.070
$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,31.475,34.950,96.425,162.225,0.000,38.312,39.988,194.671,2.000,0.000,2796.000,32.279,373.260,1040.101,359.585,385.043,534.435,0.000,592.602,0.000,363.881,0.000,7.132
$DEVICE_MAMPS,162.604,69.030,599.794,513.123,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,126.678,0.000,0.000,0.000,0.000,0.000,0.000,2796.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,19.122,51.000
$DATA_FILE_SIZE,3305,183
$CFSIZE,260034560,241979392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091007,095133,4745.139,-12249.813,12,1.5,12,18.3