version: 66.02
glider: 117
mission: 4
dive: 335
start: 10 6 107 6 2 2
data:
$ID,117
$MISSION,4
$DIVE,335
$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,-24770.439
$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,30
$R_STBD_OVSHOOT,40
$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
$GPS1,054453,4745.021,-12249.911,10,3.3,29,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.56
$_SM_ANGLEo,-61.1
$GPS2,060105,4744.975,-12249.912,13,3.7,32,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.078,0.151
$KALMAN_X,37551.5,-67.5,-42.6,-33968.3,-20.7
$KALMAN_Y,20763.8,124.1,-23.0,-11261.2,-67.4
$MHEAD_RNG_PITCHd_Wd,9.0,238,-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,-78.28,0.000,2,0.000,0.000,410,2215,3049
$GC,114,-1.83,-97.8,2.1,-4.8,13,151,13.20,2.70,-15.15,0.000,4,0.199,0.075,2492,806,3602
$GC,218,-1.83,-97.8,15.0,-12.2,29,224,0.00,2.45,0.00,0.000,6,0.000,0.036,2492,2197,3604
$GC,289,-1.83,-97.8,23.2,-11.5,38,290,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2197,3604
$GC,482,-1.83,-97.8,44.5,-11.0,53,483,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2197,3604
$GC,669,-1.83,-97.8,66.0,-11.3,68,670,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2197,3605
$GC,858,-1.83,-97.8,87.5,-11.6,83,862,0.00,2.55,0.00,0.000,4,0.000,0.059,2492,3605,3604
$GC,891,-1.83,-97.8,91.4,-11.8,85,895,0.00,2.42,0.00,0.000,6,0.000,0.035,2492,2204,3605
$STATE,932,end dive,TARGET_DEPTH_EXCEEDED
$STATE,932,begin apogee
$GC,940,-0.38,0.0,96.3,11.2,88,1022,1.62,0.00,77.50,0.668,6,0.110,0.000,2809,2133,3202
$STATE,1023,end apogee,CONTROL_FINISHED_OK
$STATE,1023,begin climb
$GC,1026,1.83,97.8,99.5,0.0,95,1107,2.28,0.00,76.28,0.653,6,0.061,0.000,3304,2132,2802
$GC,1294,1.83,97.8,83.4,8.1,117,1299,0.00,2.58,0.00,0.000,4,0.000,0.055,3304,3551,2801
$GC,1346,1.83,97.8,79.1,8.2,120,1353,0.00,2.45,0.00,0.000,6,0.000,0.035,3305,2161,2801
$GC,1542,1.83,97.8,63.3,8.2,136,1546,0.00,2.53,0.00,0.000,4,0.000,0.056,3307,3552,2801
$GC,1607,1.83,97.8,57.8,8.4,140,1614,0.00,2.47,0.00,0.000,6,0.000,0.035,3303,2147,2801
$GC,1804,1.83,102.0,42.5,7.6,156,1816,0.00,2.60,2.83,0.760,4,0.000,0.055,3305,3553,2787
$GC,1901,1.83,102.0,34.4,8.3,163,1907,0.00,2.47,0.00,0.000,6,0.000,0.035,3304,2148,2786
$GC,2097,1.84,104.3,19.3,7.7,179,2103,0.00,0.00,1.77,0.792,6,0.000,0.000,3304,2148,2776
$GC,2170,1.85,114.7,14.0,7.1,190,2182,0.00,0.00,7.53,0.694,6,0.000,0.000,3304,2148,2734
$GC,2251,1.88,137.9,9.2,6.1,202,2275,0.00,2.58,17.62,0.650,4,0.000,0.056,3304,3546,2639
$STATE,2332,end climb,SURFACE_DEPTH_REACHED
$STATE,2332,begin surface coast
$FINISH,-0.2,1.022710
$STATE,2445,end surface coast,CONTROL_FINISHED_OK
$STATE,2445,begin surface
$SM_CCo,2475,142.38,0.584,0,0,1367,450.13
$SM_GC,0.60,0.00,0.00,142.38,0.000,0.000,0.584,408,2184,1367,-11.46,-0.45,450.13
$IRIDIUM_FIX,4726.11,-12252.58,061007,090946
$TT8_MAMPS,0.071331
$HUMID,2175
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,20.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.2,999.0
$24V_AH,23.7,47.001
$10V_AH,10.1,30.958
$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,30.300,30.250,183.525,142.375,0.000,141.769,116.365,345.260,0.250,0.000,3682.000,33.419,431.019,1505.515,443.264,430.482,796.533,33.336,691.057,0.000,386.868,0.000,2.490
$DEVICE_MAMPS,198.653,82.069,792.311,583.687,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,163.936,0.000,0.000,0.000,0.000,0.000,0.000,3682.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6445,232
$CFSIZE,260231168,247091200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,061007,064627,4745.147,-12249.788,11,1.8,11,18.3