version: 66.02
glider: 117
mission: 4
dive: 340
start: 10 6 107 10 42 6
data:
$ID,117
$MISSION,4
$DIVE,340
$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,-24912.02
$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,31
$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
$GPS1,102551,4744.932,-12249.870,8,2.0,8,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.56
$_SM_ANGLEo,-62.5
$GPS2,104107,4744.923,-12249.870,13,1.7,29,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.038,0.165
$KALMAN_X,37400.5,-78.9,5.2,-33800.4,-8.3
$KALMAN_Y,20587.5,-94.4,-55.1,-10929.6,-24.8
$MHEAD_RNG_PITCHd_Wd,354.8,309,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-1.79,-68.1,0.0,0.0,0,108,0.00,0.00,-78.22,0.000,2,0.000,0.000,408,2210,3046
$GC,112,-1.83,-97.8,2.2,-4.9,13,149,13.25,2.67,-15.35,0.000,4,0.200,0.075,2492,809,3604
$GC,228,-1.83,-97.8,16.7,-13.1,31,234,0.00,2.42,0.00,0.000,6,0.000,0.036,2492,2193,3605
$GC,299,-1.83,-97.8,24.7,-11.1,39,300,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2193,3605
$GC,492,-1.83,-97.8,45.8,-11.2,54,496,0.00,2.55,0.00,0.000,4,0.000,0.059,2492,3601,3606
$GC,551,-1.83,-97.8,53.3,-11.9,58,555,0.00,2.42,0.00,0.000,6,0.000,0.035,2492,2201,3607
$GC,747,-1.83,-97.8,75.6,-11.4,73,748,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2202,3606
$STATE,920,end dive,TARGET_DEPTH_EXCEEDED
$STATE,921,begin apogee
$GC,930,-0.38,0.0,95.5,11.1,87,1012,1.62,0.00,77.53,0.669,6,0.109,0.000,2815,2139,3202
$STATE,1013,end apogee,CONTROL_FINISHED_OK
$STATE,1014,begin climb
$GC,1016,1.83,97.8,98.7,0.0,94,1098,2.22,0.00,76.20,0.649,6,0.060,0.000,3300,2139,2803
$GC,1285,1.83,97.8,82.9,8.0,116,1286,0.00,0.00,0.00,0.000,6,0.000,0.000,3300,2139,2802
$GC,1476,1.83,100.2,68.1,7.7,131,1477,0.00,0.00,0.00,0.000,6,0.000,0.000,3300,2139,2801
$GC,1665,1.84,104.0,53.3,7.6,146,1678,0.00,2.62,4.50,0.729,4,0.000,0.057,3300,3545,2778
$GC,1758,1.84,104.0,45.4,9.1,153,1762,0.00,2.42,0.00,0.000,6,0.000,0.036,3300,2153,2778
$GC,1953,1.84,104.0,29.9,8.0,168,1957,0.00,2.55,0.00,0.000,4,0.000,0.058,3300,3553,2778
$GC,2066,1.84,104.0,20.8,8.5,176,2070,0.00,2.45,0.00,0.000,6,0.000,0.035,3300,2147,2777
$GC,2271,1.91,160.2,9.2,3.5,205,2319,0.00,0.00,43.22,0.622,6,0.000,0.000,3300,2147,2548
$STATE,2376,end climb,SURFACE_DEPTH_REACHED
$STATE,2376,begin surface coast
$FINISH,-0.2,1.022756
$STATE,2483,end surface coast,CONTROL_FINISHED_OK
$STATE,2483,begin surface
$SM_CCo,2511,131.55,0.578,0,0,1366,450.13
$SM_GC,0.61,0.00,0.00,131.55,0.000,0.000,0.578,410,2217,1366,-11.45,0.48,450.13
$IRIDIUM_FIX,4726.11,-12248.15,061007,141451
$TT8_MAMPS,0.074399
$HUMID,2182
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,20.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,71.2,999.0
$24V_AH,23.4,47.428
$10V_AH,10.1,31.316
$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,30.400,20.250,201.450,131.550,0.000,139.640,236.623,194.329,0.500,24.892,3619.108,29.574,432.802,1542.346,426.106,438.420,738.366,33.335,673.753,0.000,396.463,0.000,4.801
$DEVICE_MAMPS,200.187,108.147,729.417,577.551,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,168.261,0.000,0.000,0.000,0.000,0.000,0.000,3644.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6452,238
$CFSIZE,260231168,246951936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,112714,4745.146,-12249.815,12,1.8,29,18.3