version: 66.02
glider: 117
mission: 4
dive: 337
start: 10 6 107 7 49 20
data:
$ID,117
$MISSION,4
$DIVE,337
$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,-24820.283
$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,34
$R_STBD_OVSHOOT,31
$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
$GPS1,073947,4745.300,-12249.866,14,2.2,33,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.51
$_SM_ANGLEo,-62.2
$GPS2,074823,4745.266,-12249.842,13,2.7,32,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.015,-0.169
$KALMAN_X,37530.0,-75.5,-31.0,-33863.3,8.0
$KALMAN_Y,20694.8,27.6,-64.7,-10513.5,-50.1
$MHEAD_RNG_PITCHd_Wd,156.6,335,-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,-68.1,0.0,0.0,0,104,0.00,0.00,-72.25,0.000,2,0.000,0.000,411,2183,2894
$GC,108,-1.83,-97.8,2.0,-4.6,12,151,13.23,2.58,-22.92,0.000,4,0.200,0.068,2494,3597,3601
$GC,402,-1.83,-97.8,34.9,-11.6,47,409,0.00,2.42,0.00,0.000,6,0.000,0.035,2494,2208,3603
$GC,600,-1.83,-97.8,56.8,-11.1,63,604,0.00,2.53,0.00,0.000,4,0.000,0.056,2494,3602,3603
$GC,744,-1.83,-97.8,74.0,-11.9,73,750,0.00,2.42,0.00,0.000,6,0.000,0.035,2494,2194,3603
$STATE,937,end dive,TARGET_DEPTH_EXCEEDED
$STATE,937,begin apogee
$GC,944,-0.38,0.0,96.0,11.3,89,1026,1.62,0.00,76.95,0.673,6,0.110,0.000,2810,2135,3202
$STATE,1027,end apogee,CONTROL_FINISHED_OK
$STATE,1027,begin climb
$GC,1030,1.83,97.8,99.1,0.0,96,1111,2.25,0.00,76.22,0.653,6,0.062,0.000,3301,2134,2802
$GC,1299,1.83,99.6,83.9,7.8,118,1300,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,2137,2802
$GC,1490,1.84,104.4,69.7,7.5,133,1502,0.00,2.60,4.93,0.726,4,0.000,0.054,3302,3554,2775
$GC,1613,1.84,104.4,59.0,8.5,142,1620,0.00,2.45,0.00,0.000,6,0.000,0.035,3301,2162,2775
$GC,1810,1.84,104.4,43.4,8.0,158,1814,0.00,2.53,0.00,0.000,4,0.000,0.056,3301,3554,2775
$GC,1856,1.84,104.4,39.5,8.4,161,1860,0.00,2.45,0.00,0.000,6,0.000,0.035,3301,2144,2775
$GC,2051,1.84,104.4,23.9,8.1,176,2056,0.00,2.55,0.00,0.000,4,0.000,0.056,3301,3553,2775
$GC,2124,1.84,104.4,17.7,8.5,183,2130,0.00,2.42,0.00,0.000,6,0.000,0.035,3301,2148,2775
$GC,2197,1.84,110.1,12.1,7.5,194,2209,0.00,2.58,3.85,0.733,4,0.000,0.055,3301,3541,2753
$GC,2315,1.94,185.0,7.3,2.1,212,2382,0.00,2.40,57.75,0.617,6,0.000,0.034,3301,2146,2446
$STATE,2388,end climb,SURFACE_DEPTH_REACHED
$STATE,2388,begin surface coast
$FINISH,-0.2,1.022706
$STATE,2502,end surface coast,CONTROL_FINISHED_OK
$STATE,2502,begin surface
$SM_CCo,2530,120.88,0.579,0,0,1366,450.13
$SM_GC,0.48,0.00,0.00,120.88,0.000,0.000,0.579,409,2216,1366,-11.46,0.45,450.13
$IRIDIUM_FIX,4726.11,-12250.84,061007,101004
$TT8_MAMPS,0.072865
$HUMID,2162
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.2,999.0
$24V_AH,23.6,47.161
$10V_AH,10.1,31.095
$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,30.200,30.050,219.700,120.875,0.000,55.926,53.086,179.624,0.250,0.000,3318.000,33.137,436.490,1373.351,445.758,471.291,457.291,33.337,713.182,0.000,426.298,0.000,2.488
$DEVICE_MAMPS,200.187,108.914,733.252,579.085,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,170.368,0.000,0.000,0.000,0.000,0.000,0.000,3318.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6453,241
$CFSIZE,260231168,247037952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,083438,4745.048,-12249.876,30,1.7,30,18.3