version: 66.02
glider: 117
mission: 4
dive: 331
start: 10 6 107 1 59 15
data:
$ID,117
$MISSION,4
$DIVE,331
$D_SURF,5
$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,40
$T_MISSION,90
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,25
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51716
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$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,602.45679
$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,-24646.793
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,409
$PITCH_MAX,3715
$C_PITCH,2900
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,13
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,243
$ROLL_MAX,3920
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,746
$VBD_MAX,3936
$C_VBD,3202
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-7.1405377
$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,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.00439469
$SEABIRD_T_H,0.00064900791
$SEABIRD_T_I,2.5454905e-05
$SEABIRD_T_J,2.5957725e-06
$SEABIRD_C_G,-9.918622
$SEABIRD_C_H,1.1128846
$SEABIRD_C_I,-0.0018190074
$SEABIRD_C_J,0.00019276176
$GPS1,014147,4744.719,-12250.100,11,3.0,30,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.44
$_SM_ANGLEo,-57.9
$GPS2,015811,4744.738,-12250.190,10,2.4,29,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.119,0.162
$KALMAN_X,37825.5,-32.3,-33.1,-34631.7,6.0
$KALMAN_Y,20807.5,247.0,64.1,-11951.8,13.4
$MHEAD_RNG_PITCHd_Wd,17.9,796,-18.4,-7.917
$D_GRID,174
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,30,-1.54,-97.8,0.0,0.0,0,149,0.00,0.00,-114.25,0.000,2,0.000,0.000,413,2190,3118
$GC,152,-1.54,-97.8,2.3,-4.9,19,184,13.55,2.60,-12.40,0.000,4,0.199,0.067,2561,3587,3603
$GC,435,-1.54,-97.8,31.4,-9.8,53,441,0.00,2.40,0.00,0.000,6,0.000,0.035,2560,2199,3604
$GC,633,-1.54,-97.8,48.8,-8.7,69,637,0.00,2.50,0.00,0.000,4,0.000,0.055,2560,3585,3605
$GC,705,-1.54,-97.8,55.7,-9.2,74,709,0.00,2.40,0.00,0.000,6,0.000,0.035,2560,2196,3605
$GC,901,-1.54,-97.8,73.1,-8.6,89,902,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2195,3605
$GC,1092,-1.54,-97.8,90.3,-9.3,104,1094,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2195,3605
$STATE,1138,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1138,begin apogee
$GC,1145,-0.38,0.0,95.0,9.3,108,1226,1.27,0.00,76.45,0.670,6,0.101,0.000,2811,2137,3202
$STATE,1227,end apogee,CONTROL_FINISHED_OK
$STATE,1227,begin climb
$GC,1230,1.54,97.8,97.9,0.0,115,1310,2.00,0.00,75.80,0.653,6,0.063,0.000,3235,2137,2803
$GC,1499,1.58,133.7,86.2,6.0,137,1529,0.00,0.00,27.33,0.660,6,0.000,0.000,3235,2137,2657
$GC,1712,1.58,133.7,69.5,8.1,154,1716,0.00,2.55,0.00,0.000,4,0.000,0.056,3235,3540,2657
$GC,1824,1.58,133.7,59.9,8.4,162,1828,0.00,2.40,0.00,0.000,6,0.000,0.036,3235,2160,2656
$GC,2020,1.58,133.7,44.1,8.0,177,2021,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,2160,2656
$GC,2213,1.58,133.7,29.0,8.1,192,2217,0.00,2.50,0.00,0.000,4,0.000,0.057,3235,3534,2656
$GC,2277,1.58,133.7,23.2,8.1,196,2284,0.00,2.42,0.00,0.000,6,0.000,0.035,3235,2156,2656
$GC,2482,1.62,163.1,7.9,6.3,224,2512,0.00,2.58,22.30,0.645,4,0.000,0.056,3235,3537,2536
$STATE,2530,end climb,SURFACE_DEPTH_REACHED
$STATE,2530,begin surface coast
$FINISH,-0.2,1.022419
$STATE,2630,end surface coast,CONTROL_FINISHED_OK
$STATE,2630,begin surface
$SM_CCo,2662,215.18,0.575,0,0,746,602.46
$SM_GC,0.45,0.00,0.00,215.18,0.000,0.000,0.575,412,2190,746,-11.44,-0.31,602.46
$IRIDIUM_FIX,4726.11,-12250.84,061007,050537
$TT8_MAMPS,0.074399
$HUMID,2136
$INTERNAL_PRESSURE,7.90069
$TCM_TEMP,20.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.9,999.0
$24V_AH,23.7,46.637
$10V_AH,10.1,30.651
$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,29.800,24.750,201.875,215.175,0.000,179.426,295.623,82.452,0.250,0.000,3986.000,30.415,445.385,1681.256,541.478,455.879,760.922,33.341,803.756,0.000,421.519,0.000,4.487
$DEVICE_MAMPS,198.653,108.914,670.358,575.250,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,174.585,0.000,0.000,0.000,0.000,0.000,0.000,3986.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6468,247
$CFSIZE,260231168,247189504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,061007,024823,4744.916,-12250.012,14,5.0,33,18.3