version: 66.02
glider: 117
mission: 4
dive: 362
start: 10 7 107 8 6 52
data:
$ID,117
$MISSION,4
$DIVE,362
$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,-25516.594
$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,21
$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
$GPS1,075659,4745.140,-12249.804,11,3.9,30,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.30
$_SM_ANGLEo,-55.0
$GPS2,080555,4745.220,-12249.834,37,1.4,54,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.036,-0.166
$KALMAN_X,39011.1,126.5,-88.7,-35478.2,-42.7
$KALMAN_Y,26694.7,676.1,56.9,-17374.6,60.6
$MHEAD_RNG_PITCHd_Wd,149.5,249,-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,-68.1,0.0,0.0,0,123,0.00,0.00,-90.12,0.000,2,0.000,0.000,407,2201,3239
$GC,129,-1.83,-97.8,2.3,-5.6,15,160,13.20,2.58,-8.95,0.000,4,0.199,0.070,2496,3588,3604
$GC,226,-1.83,-97.8,16.6,-13.7,30,232,0.00,2.42,0.00,0.000,6,0.000,0.035,2495,2196,3604
$GC,297,-1.83,-97.8,24.8,-11.2,38,298,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2194,3606
$GC,489,-1.83,-97.8,46.9,-11.6,53,490,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2195,3605
$GC,679,-1.83,-97.8,67.8,-11.2,68,683,0.00,2.55,0.00,0.000,4,0.000,0.057,2495,3598,3605
$GC,712,-1.83,-97.8,72.0,-11.5,70,717,0.00,2.42,0.00,0.000,6,0.000,0.035,2495,2197,3605
$GC,908,-1.83,-97.8,94.1,-11.0,85,912,0.00,2.55,0.00,0.000,4,0.000,0.057,2496,3605,3605
$STATE,917,end dive,TARGET_DEPTH_EXCEEDED
$STATE,917,begin apogee
$GC,927,-0.38,0.0,95.5,11.3,85,1009,1.60,0.00,77.88,0.676,6,0.112,0.000,2812,2145,3202
$STATE,1010,end apogee,CONTROL_FINISHED_OK
$STATE,1010,begin climb
$GC,1013,1.83,97.8,98.7,0.0,92,1099,2.25,2.72,77.20,0.653,4,0.061,0.063,3302,751,2802
$GC,1140,1.83,97.8,93.2,8.1,102,1144,0.00,2.47,0.00,0.000,6,0.000,0.034,3302,2152,2801
$GC,1335,1.83,97.8,76.3,8.5,117,1340,0.00,2.55,0.00,0.000,4,0.000,0.060,3303,3551,2800
$GC,1448,1.83,97.8,66.0,8.7,125,1452,0.00,2.45,0.00,0.000,6,0.000,0.035,3303,2141,2800
$GC,1644,1.83,97.8,48.4,8.7,140,1645,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,2141,2800
$GC,1837,1.83,97.8,32.3,9.0,155,1841,0.00,2.55,0.00,0.000,4,0.000,0.056,3302,3545,2800
$GC,1902,1.83,97.8,25.9,8.0,159,1909,0.00,2.42,0.00,0.000,6,0.000,0.035,3302,2145,2800
$GC,2103,1.87,134.4,14.8,5.1,182,2139,0.00,2.67,27.65,0.639,4,0.000,0.063,3302,758,2652
$STATE,2229,end climb,SURFACE_DEPTH_REACHED
$STATE,2229,begin surface coast
$FINISH,-0.3,1.023031
$STATE,2309,end surface coast,CONTROL_FINISHED_OK
$STATE,2309,begin surface
$SM_CCo,2340,143.18,0.584,0,0,1367,450.13
$SM_GC,0.37,0.00,0.00,143.18,0.000,0.000,0.584,406,2196,1367,-11.47,-0.11,450.13
$IRIDIUM_FIX,4729.30,-12252.58,071007,111136
$TT8_MAMPS,0.065962
$HUMID,2166
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,20.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.5,999.0
$24V_AH,23.6,49.357
$10V_AH,10.1,32.952
$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,30.075,35.500,182.725,143.175,0.000,64.406,37.115,181.565,0.250,0.000,3139.000,54.774,403.756,1300.178,438.736,431.232,462.331,33.333,677.996,0.000,367.454,0.000,2.488
$DEVICE_MAMPS,199.420,69.797,676.494,583.687,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,151.622,0.000,0.000,0.000,0.000,0.000,0.000,3139.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6451,214
$CFSIZE,260231168,246247424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,084903,4745.059,-12249.789,11,1.9,11,18.3