version: 66.02
glider: 117
mission: 4
dive: 369
start: 10 7 107 14 35 32
data:
$ID,117
$MISSION,4
$DIVE,369
$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,602.45679
$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,-25683.648
$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,23
$R_STBD_OVSHOOT,33
$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
$GPS1,141957,4744.912,-12249.786,10,1.6,10,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.22
$_SM_ANGLEo,-55.6
$GPS2,143435,4744.978,-12249.862,11,3.2,30,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.121,0.119
$KALMAN_X,38595.0,-185.2,19.8,-34894.5,-77.9
$KALMAN_Y,28535.5,215.2,107.0,-19250.8,68.9
$MHEAD_RNG_PITCHd_Wd,27.2,209,-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,-90.18,0.000,2,0.000,0.000,401,2199,3254
$GC,129,-1.82,-88.1,2.4,-6.4,15,155,13.30,2.60,-7.28,0.000,4,0.201,0.069,2493,3594,3565
$GC,406,-1.82,-88.1,39.9,-10.0,45,410,0.00,2.42,0.00,0.000,6,0.000,0.035,2494,2195,3568
$GC,602,-1.82,-88.1,59.8,-10.7,60,606,0.00,2.53,0.00,0.000,4,0.000,0.056,2493,3595,3568
$GC,740,-1.82,-88.1,75.0,-10.9,70,744,0.00,2.42,0.00,0.000,6,0.000,0.035,2493,2196,3568
$STATE,933,end dive,TARGET_DEPTH_EXCEEDED
$STATE,933,begin apogee
$GC,940,-0.38,0.0,95.8,10.7,85,1020,1.62,0.00,70.47,0.672,6,0.110,0.000,2811,2135,3202
$STATE,1021,end apogee,CONTROL_FINISHED_OK
$STATE,1021,begin climb
$GC,1024,1.82,88.1,99.0,0.0,92,1101,2.25,2.62,68.70,0.657,4,0.061,0.055,3301,3545,2842
$GC,1188,1.82,90.1,90.8,7.8,105,1193,0.00,2.42,0.00,0.000,6,0.000,0.035,3301,2160,2841
$GC,1385,1.82,92.2,75.2,7.8,120,1396,0.00,2.72,2.53,0.763,4,0.000,0.065,3301,746,2826
$GC,1415,1.82,92.2,72.5,8.1,122,1422,0.00,2.47,0.00,0.000,6,0.000,0.035,3301,2151,2826
$GC,1612,1.82,92.2,56.4,8.2,138,1616,0.00,2.55,0.00,0.000,4,0.000,0.061,3301,3548,2826
$GC,1665,1.82,92.2,51.9,8.8,141,1671,0.00,2.42,0.00,0.000,6,0.000,0.035,3303,2146,2826
$GC,1861,1.82,92.2,35.8,8.1,157,1865,0.00,2.55,0.00,0.000,4,0.000,0.056,3301,3553,2826
$GC,2040,1.88,140.2,25.1,4.2,170,2082,0.00,2.42,37.12,0.637,6,0.000,0.035,3301,2150,2630
$GC,2280,1.88,140.2,6.5,9.7,199,2286,0.00,2.55,0.00,0.000,4,0.000,0.060,3301,3544,2629
$STATE,2290,end climb,SURFACE_DEPTH_REACHED
$STATE,2290,begin surface coast
$FINISH,-0.0,1.022655
$STATE,2344,end surface coast,CONTROL_FINISHED_OK
$STATE,2347,begin surface
$SM_CCo,2377,227.30,0.569,0,0,746,602.46
$SM_GC,0.16,0.00,0.00,227.30,0.000,0.000,0.569,410,2189,746,-11.45,-0.31,602.46
$IRIDIUM_FIX,4729.30,-12156.59,071007,181843
$TT8_MAMPS,0.074399
$HUMID,2138
$INTERNAL_PRESSURE,7.89093
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.1,999.0
$24V_AH,23.6,49.969
$10V_AH,10.0,33.451
$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,30.425,35.150,178.825,227.300,0.000,179.037,300.674,0.000,0.250,0.000,3505.000,31.747,404.150,1481.028,507.667,452.126,655.329,33.347,770.790,0.000,413.809,0.000,2.488
$DEVICE_MAMPS,200.954,108.914,763.165,569.114,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,148.246,0.000,0.000,0.000,0.000,0.000,0.000,3505.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6458,209
$CFSIZE,260231168,246034432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,152005,4745.112,-12249.702,10,3.0,29,18.3