version: 66.02
glider: 117
mission: 4
dive: 339
start: 10 6 107 9 41 36
data:
$ID,117
$MISSION,4
$DIVE,339
$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,-24881.82
$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,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
$GPS1,092809,4745.197,-12249.822,12,1.7,30,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.54
$_SM_ANGLEo,-62.4
$GPS2,094038,4745.160,-12249.814,13,1.6,30,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.002,-0.170
$KALMAN_X,37459.4,-75.5,-2.4,-33786.7,0.2
$KALMAN_Y,20601.0,-60.9,-67.8,-10523.9,-46.2
$MHEAD_RNG_PITCHd_Wd,162.5,138,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-1.79,-68.1,0.0,0.0,0,109,0.00,0.00,-78.18,0.000,2,0.000,0.000,413,2160,3038
$GC,113,-1.83,-97.8,2.1,-4.8,13,150,13.20,2.62,-15.90,0.000,4,0.200,0.069,2493,3598,3603
$GC,402,-1.83,-97.8,37.2,-12.0,47,406,0.00,2.42,0.00,0.000,6,0.000,0.035,2493,2200,3605
$GC,598,-1.83,-97.8,59.6,-11.2,62,602,0.00,2.53,0.00,0.000,4,0.000,0.056,2493,3597,3606
$GC,690,-1.83,-97.8,70.7,-12.3,68,696,0.00,2.42,0.00,0.000,6,0.000,0.035,2493,2190,3605
$GC,885,-1.83,-97.8,92.3,-11.1,84,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2190,3606
$STATE,908,end dive,TARGET_DEPTH_EXCEEDED
$STATE,908,begin apogee
$GC,915,-0.38,0.0,95.3,11.1,86,998,1.62,0.00,77.53,0.668,6,0.110,0.000,2810,2131,3202
$STATE,999,end apogee,CONTROL_FINISHED_OK
$STATE,999,begin climb
$GC,1002,1.83,97.8,98.1,0.0,93,1084,2.25,0.00,76.57,0.649,6,0.061,0.000,3300,2130,2803
$GC,1270,1.83,97.8,82.2,8.0,115,1274,0.00,2.58,0.00,0.000,4,0.000,0.055,3301,3550,2802
$GC,1335,1.83,97.8,76.9,8.1,119,1342,0.00,2.45,0.00,0.000,6,0.000,0.035,3301,2159,2802
$GC,1532,1.83,98.1,61.3,7.9,135,1533,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,2159,2802
$GC,1725,1.84,109.9,47.1,7.0,150,1740,0.00,2.58,8.95,0.690,4,0.000,0.055,3301,3547,2753
$GC,1844,1.84,109.9,36.4,9.0,159,1849,0.00,2.45,0.00,0.000,6,0.000,0.036,3301,2142,2753
$GC,2040,1.84,109.9,20.2,8.3,174,2044,0.00,2.55,0.00,0.000,4,0.000,0.056,3301,3548,2753
$GC,2298,1.95,196.1,7.9,1.2,212,2374,0.10,2.42,65.82,0.615,6,0.072,0.035,3323,2141,2402
$STATE,2378,end climb,SURFACE_DEPTH_REACHED
$STATE,2378,begin surface coast
$FINISH,-0.2,1.022730
$STATE,2468,end surface coast,CONTROL_FINISHED_OK
$STATE,2468,begin surface
$SM_CCo,2496,113.88,0.576,0,0,1366,450.13
$SM_GC,0.57,0.00,0.00,113.88,0.000,0.000,0.576,407,2211,1366,-11.46,0.28,450.13
$IRIDIUM_FIX,4732.49,-12428.53,061007,131304
$TT8_MAMPS,0.072098
$HUMID,2169
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,20.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,70.7,999.0
$24V_AH,23.5,47.329
$10V_AH,10.1,31.238
$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,30.600,25.150,228.875,113.875,0.000,101.448,193.596,169.359,0.750,0.000,3501.000,30.716,429.576,1425.329,432.887,455.955,633.742,33.338,692.674,0.000,413.840,0.000,2.489
$DEVICE_MAMPS,200.187,109.681,689.533,576.017,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,168.279,0.000,0.000,0.000,0.000,0.000,0.000,3501.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6428,238
$CFSIZE,260231168,246980608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,061007,102551,4744.932,-12249.870,8,2.0,8,18.3