version: 66.02
glider: 117
mission: 4
dive: 342
start: 10 6 107 12 48 9
data:
$ID,117
$MISSION,4
$DIVE,342
$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,-24960.846
$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,41
$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
$GPS1,122537,4745.204,-12249.551,19,1.0,35,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.53
$_SM_ANGLEo,-62.3
$GPS2,124710,4745.226,-12249.528,11,2.5,30,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,FIVE_B
$TGT_LATLONG,4745.166,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.158,-0.062
$KALMAN_X,37358.1,-66.3,12.0,-33352.6,-13.2
$KALMAN_Y,20566.3,-144.3,-15.7,-10336.4,22.9
$MHEAD_RNG_PITCHd_Wd,230.3,374,-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,-68.1,0.0,0.0,0,109,0.00,0.00,-78.25,0.000,2,0.000,0.000,409,2216,3036
$GC,112,-1.83,-97.8,2.1,-4.8,13,149,13.18,2.50,-16.25,0.000,4,0.198,0.069,2495,3587,3603
$GC,269,-1.83,-97.8,20.9,-11.3,37,273,0.00,2.40,0.00,0.000,6,0.000,0.035,2495,2203,3605
$GC,464,-1.83,-97.8,42.5,-11.4,52,465,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2203,3605
$GC,657,-1.83,-97.8,64.1,-11.5,67,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2203,3605
$GC,845,-1.83,-97.8,85.2,-10.6,82,846,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2202,3605
$STATE,941,end dive,TARGET_DEPTH_EXCEEDED
$STATE,941,begin apogee
$GC,948,-0.38,0.0,96.1,10.7,90,1031,1.60,0.00,77.68,0.668,6,0.109,0.000,2809,2130,3202
$STATE,1032,end apogee,CONTROL_FINISHED_OK
$STATE,1032,begin climb
$GC,1035,1.83,97.8,98.9,0.0,97,1116,2.28,0.00,76.20,0.653,6,0.061,0.000,3305,2130,2803
$GC,1304,1.83,97.8,82.3,8.0,119,1308,0.00,2.55,0.00,0.000,4,0.000,0.057,3305,3539,2801
$GC,1431,1.83,97.8,71.8,8.3,128,1435,0.00,2.40,0.00,0.000,6,0.000,0.036,3305,2159,2801
$GC,1627,1.83,100.9,56.3,7.7,143,1631,0.00,0.00,2.05,0.778,6,0.000,0.000,3305,2159,2790
$GC,1816,1.83,100.9,41.0,8.3,158,1820,0.00,2.50,0.00,0.000,4,0.000,0.057,3305,3536,2790
$GC,1894,1.83,100.9,34.4,8.6,163,1901,0.00,2.42,0.00,0.000,6,0.000,0.035,3305,2142,2790
$GC,2091,1.84,104.4,18.9,7.6,180,2099,0.00,2.67,2.53,0.762,4,0.000,0.065,3305,748,2777
$GC,2133,1.85,114.4,16.1,7.1,186,2146,0.00,2.45,7.57,0.686,6,0.000,0.035,3305,2145,2735
$GC,2215,1.87,134.5,10.3,6.4,198,2233,0.00,0.00,15.25,0.652,6,0.000,0.000,3305,2145,2652
$GC,2302,1.94,186.8,6.7,3.8,211,2339,0.00,0.00,35.00,0.620,2,0.000,0.000,3305,2145,2467
$STATE,2340,end climb,SURFACE_DEPTH_REACHED
$STATE,2340,begin surface coast
$FINISH,-0.2,1.022767
$STATE,2464,end surface coast,CONTROL_FINISHED_OK
$STATE,2464,begin surface
$SM_CCo,2494,120.88,0.575,0,0,1367,450.13
$SM_GC,0.59,0.00,0.00,120.88,0.000,0.000,0.575,411,2207,1367,-11.45,0.20,450.13
$IRIDIUM_FIX,4726.11,-12248.15,061007,161659
$TT8_MAMPS,0.072865
$HUMID,2162
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,71.3,999.0
$24V_AH,23.5,47.630
$10V_AH,10.1,31.479
$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,30.275,20.025,216.275,120.875,0.000,167.188,280.426,408.965,0.250,0.000,4058.000,30.894,430.085,1580.657,426.170,427.884,1061.921,33.340,671.712,0.000,386.254,0.000,2.489
$DEVICE_MAMPS,197.886,110.448,777.738,575.250,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,166.786,0.000,0.000,0.000,0.000,0.000,0.000,4058.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6435,236
$CFSIZE,260231168,246882304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,133253,4745.125,-12249.848,11,2.6,30,18.3