version: 66.02
glider: 117
mission: 4
dive: 344
start: 10 6 107 14 41 2
data:
$ID,117
$MISSION,4
$DIVE,344
$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,-24989.748
$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,34
$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
$GPS1,142737,4744.945,-12249.756,9,1.7,25,18.3
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.44
$_SM_ANGLEo,-58.5
$GPS2,144003,4744.999,-12249.775,14,1.4,14,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,FIVE_B
$TGT_LATLONG,4745.166,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.031,0.167
$KALMAN_X,37332.9,-51.7,2.2,-33639.7,5.3
$KALMAN_Y,20620.4,-142.5,37.2,-10869.3,14.8
$MHEAD_RNG_PITCHd_Wd,331.2,314,-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,-78.25,0.000,2,0.000,0.000,405,2202,3032
$GC,114,-1.83,-97.8,2.0,-4.9,13,152,13.25,2.65,-16.35,0.000,4,0.199,0.077,2495,801,3604
$GC,403,-1.83,-97.8,36.1,-11.0,47,407,0.00,2.45,0.00,0.000,6,0.000,0.037,2495,2197,3606
$GC,598,-1.83,-97.8,58.1,-10.9,62,603,0.00,2.58,0.00,0.000,4,0.000,0.064,2494,807,3606
$GC,671,-1.83,-97.8,66.5,-11.7,67,675,0.00,2.45,0.00,0.000,6,0.000,0.037,2495,2200,3606
$GC,869,-1.83,-97.8,87.8,-10.9,82,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2200,3606
$STATE,941,end dive,TARGET_DEPTH_EXCEEDED
$STATE,941,begin apogee
$GC,949,-0.38,0.0,96.0,10.7,88,1031,1.60,0.00,77.82,0.669,6,0.108,0.000,2814,2137,3202
$STATE,1032,end apogee,CONTROL_FINISHED_OK
$STATE,1032,begin climb
$GC,1035,1.83,97.8,98.7,0.0,95,1118,2.25,0.00,76.62,0.646,6,0.060,0.000,3305,2137,2803
$GC,1304,1.83,97.8,81.6,8.4,117,1308,0.00,2.58,0.00,0.000,4,0.000,0.060,3305,3547,2801
$GC,1395,1.83,97.8,73.4,8.7,123,1402,0.00,2.40,0.00,0.000,6,0.000,0.035,3305,2163,2801
$GC,1591,1.83,97.8,57.3,8.0,139,1595,0.00,2.53,0.00,0.000,4,0.000,0.057,3305,3553,2801
$GC,1656,1.83,97.8,51.7,8.4,143,1663,0.00,2.42,0.00,0.000,6,0.000,0.036,3305,2152,2800
$GC,1853,1.83,98.0,35.9,7.9,159,1857,0.00,2.53,0.00,0.000,4,0.000,0.057,3305,3546,2801
$GC,1918,1.83,98.0,30.4,8.2,163,1924,0.00,2.42,0.00,0.000,6,0.000,0.035,3305,2150,2800
$GC,2116,1.85,113.3,15.7,6.7,183,2134,0.00,0.00,11.40,0.673,6,0.000,0.000,3305,2150,2739
$GC,2203,1.89,143.0,10.1,5.6,196,2227,0.00,0.00,22.48,0.635,6,0.000,0.000,3305,2150,2619
$GC,2296,1.93,176.3,6.0,5.3,210,2321,0.00,0.00,23.02,0.626,2,0.000,0.000,3305,2150,2495
$STATE,2321,end climb,SURFACE_DEPTH_REACHED
$STATE,2322,begin surface coast
$FINISH,-0.3,1.022713
$STATE,2426,end surface coast,CONTROL_FINISHED_OK
$STATE,2426,begin surface
$SM_CCo,2456,126.12,0.577,0,0,1367,450.13
$SM_GC,0.46,0.00,0.00,126.12,0.000,0.000,0.577,408,2216,1367,-11.46,0.45,450.13
$IRIDIUM_FIX,4729.30,-12245.46,061007,181828
$TT8_MAMPS,0.071331
$HUMID,2152
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,71.3,999.0
$24V_AH,23.6,47.802
$10V_AH,10.1,31.622
$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,30.400,25.125,211.350,126.125,0.000,94.928,99.964,274.321,0.500,0.000,3431.000,14.725,426.695,1406.590,434.036,430.847,647.996,33.343,691.272,0.000,405.748,0.000,2.490
$DEVICE_MAMPS,199.420,92.807,673.426,576.784,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,162.593,0.000,0.000,0.000,0.000,0.000,0.000,3431.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6465,230
$CFSIZE,260231168,246829056
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,152511,4745.219,-12249.896,10,2.1,29,18.3