version: 66.02
glider: 117
mission: 4
dive: 333
start: 10 6 107 4 2 32
data:
$ID,117
$MISSION,4
$DIVE,333
$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,-1
$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,450
$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,-24720.018
$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,29
$R_STBD_OVSHOOT,33
$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
$GPS1,035235,4745.090,-12249.877,12,2.2,31,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-61.9
$GPS2,040105,4745.077,-12249.892,15,2.2,34,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,FIVE_B
$TGT_LATLONG,4745.166,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.100,0.137
$KALMAN_X,37613.1,-34.8,-17.7,-34061.0,-90.3
$KALMAN_Y,20756.0,207.1,43.0,-11213.5,-88.5
$MHEAD_RNG_PITCHd_Wd,17.7,191,-22.2,-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,-1.79,-68.1,0.0,0.0,0,111,0.00,0.00,-78.32,0.000,2,0.000,0.000,409,2193,3035
$GC,114,-1.83,-97.8,2.1,-4.8,13,151,13.25,2.62,-15.75,0.000,4,0.201,0.077,2494,804,3603
$GC,276,-1.83,-97.8,21.6,-11.9,37,283,0.00,2.47,0.00,0.000,6,0.000,0.037,2494,2195,3604
$GC,472,-1.83,-97.8,44.0,-11.4,53,474,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2196,3605
$GC,665,-1.83,-97.8,65.4,-11.5,68,670,0.00,2.53,0.00,0.000,4,0.000,0.058,2494,3595,3605
$GC,698,-1.83,-97.8,69.7,-11.9,70,703,0.00,2.40,0.00,0.000,6,0.000,0.035,2494,2199,3605
$GC,900,-1.83,-97.8,92.3,-11.0,86,901,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2198,3605
$STATE,935,end dive,TARGET_DEPTH_EXCEEDED
$STATE,935,begin apogee
$GC,942,-0.38,0.0,96.4,10.9,89,1025,1.62,0.00,77.50,0.669,6,0.110,0.000,2810,2139,3202
$STATE,1026,end apogee,CONTROL_FINISHED_OK
$STATE,1026,begin climb
$GC,1029,1.83,97.8,99.5,0.0,96,1110,2.25,0.00,76.18,0.653,6,0.061,0.000,3299,2139,2804
$GC,1297,1.83,97.8,84.5,8.1,118,1302,0.00,2.60,0.00,0.000,4,0.000,0.065,3299,757,2801
$GC,1336,1.83,97.8,81.1,8.3,120,1342,0.00,2.45,0.00,0.000,6,0.000,0.035,3298,2150,2801
$GC,1532,1.83,97.8,65.6,8.0,136,1537,0.00,2.55,0.00,0.000,4,0.000,0.060,3298,3550,2801
$GC,1591,1.83,97.8,60.8,8.0,140,1596,0.00,2.42,0.00,0.000,6,0.000,0.035,3299,2158,2801
$GC,1788,1.83,99.3,46.0,7.8,155,1792,0.00,2.53,0.00,0.000,4,0.000,0.057,3299,3545,2801
$GC,1874,1.83,100.0,39.0,7.9,161,1878,0.00,2.42,0.00,0.000,6,0.000,0.036,3299,2150,2801
$GC,2070,1.85,111.0,24.9,7.1,176,2086,0.00,2.58,9.68,0.686,4,0.000,0.057,3299,3542,2749
$GC,2121,1.85,111.0,20.8,8.4,180,2125,0.00,2.42,0.00,0.000,6,0.000,0.035,3299,2150,2749
$GC,2326,1.89,150.3,6.5,4.9,209,2363,0.00,2.60,29.85,0.634,4,0.000,0.056,3298,3544,2589
$STATE,2367,end climb,SURFACE_DEPTH_REACHED
$STATE,2367,begin surface coast
$FINISH,-0.1,1.022435
$STATE,2461,end surface coast,CONTROL_FINISHED_OK
$STATE,2461,begin surface
$SM_CCo,2493,136.18,0.584,0,0,1367,450.13
$SM_GC,0.63,0.00,0.00,136.18,0.000,0.000,0.584,408,2191,1367,-11.46,-0.25,450.13
$IRIDIUM_FIX,4729.30,-12252.58,061007,060649
$TT8_MAMPS,0.072098
$HUMID,2167
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.4,999.0
$24V_AH,23.7,46.816
$10V_AH,10.1,30.805
$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,30.400,35.025,193.200,136.175,0.000,60.774,37.941,182.252,0.500,0.000,3282.000,35.584,436.330,1404.687,432.897,439.568,472.043,33.335,685.729,0.000,392.093,0.000,2.500
$DEVICE_MAMPS,200.954,107.380,686.465,583.687,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,162.690,0.000,0.000,0.000,0.000,0.000,0.000,3282.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6461,230
$CFSIZE,260231168,247152640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,061007,044709,4745.239,-12249.744,11,1.5,11,18.3