version: 66.02
glider: 117
mission: 4
dive: 371
start: 10 7 107 16 37 56
data:
$ID,117
$MISSION,4
$DIVE,371
$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,-25736.305
$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,36
$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
$GPS1,162214,4745.036,-12249.800,12,1.4,29,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-50.7
$GPS2,163659,4745.115,-12249.858,14,2.1,33,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.141,-0.095
$KALMAN_X,38378.4,-231.1,-13.1,-34592.9,-63.0
$KALMAN_Y,28951.4,114.9,129.3,-19337.3,29.0
$MHEAD_RNG_PITCHd_Wd,105.6,76,-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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,31,-1.79,-68.1,0.0,0.0,0,162,0.00,0.00,-127.70,0.000,2,0.000,0.000,411,2214,3367
$GC,165,-1.83,-97.8,2.5,-5.5,21,191,13.20,2.53,-5.47,0.000,4,0.199,0.068,2494,3600,3602
$GC,368,-1.83,-97.8,32.8,-12.9,45,375,0.00,2.42,0.00,0.000,6,0.000,0.035,2494,2201,3604
$GC,565,-1.83,-97.8,53.6,-10.8,61,566,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2201,3604
$GC,757,-1.83,-97.8,74.1,-10.7,76,758,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2201,3604
$STATE,943,end dive,TARGET_DEPTH_EXCEEDED
$STATE,943,begin apogee
$GC,950,-0.38,0.0,95.2,11.1,91,1030,1.60,0.00,74.15,0.665,6,0.111,0.000,2810,2140,3202
$STATE,1030,end apogee,CONTROL_FINISHED_OK
$STATE,1030,begin climb
$GC,1034,1.83,97.8,98.7,0.0,98,1120,2.25,2.62,77.03,0.648,4,0.062,0.063,3304,764,2803
$GC,1212,1.83,97.8,89.1,8.6,112,1217,0.00,2.45,0.00,0.000,6,0.000,0.035,3304,2147,2805
$GC,1408,1.83,97.8,72.6,8.4,127,1413,0.00,2.58,0.00,0.000,4,0.000,0.061,3304,3552,2807
$GC,1521,1.83,97.8,62.6,8.3,135,1525,0.00,2.42,0.00,0.000,6,0.000,0.035,3304,2158,2807
$GC,1717,1.83,98.8,46.7,7.8,150,1718,0.00,0.00,0.00,0.000,6,0.000,0.000,3304,2158,2807
$GC,1908,1.83,98.8,30.9,9.0,165,1912,0.00,2.53,0.00,0.000,4,0.000,0.057,3304,3545,2808
$GC,1928,1.83,98.8,29.0,8.9,166,1932,0.00,2.42,0.00,0.000,6,0.000,0.035,3304,2148,2807
$GC,2124,1.90,154.9,20.1,3.5,181,2173,0.00,2.62,43.72,0.629,4,0.000,0.056,3304,3543,2570
$STATE,2303,end climb,SURFACE_DEPTH_REACHED
$STATE,2303,begin surface coast
$FINISH,0.3,1.022795
$STATE,2357,end surface coast,CONTROL_FINISHED_OK
$STATE,2357,begin surface
$SM_CCo,2390,218.90,0.566,0,0,746,602.46
$SM_GC,0.11,0.00,0.00,218.90,0.000,0.000,0.566,408,2184,746,-11.46,-0.42,602.46
$IRIDIUM_FIX,4726.11,-12250.84,071007,202013
$TT8_MAMPS,0.072098
$HUMID,2142
$INTERNAL_PRESSURE,7.90069
$TCM_TEMP,20.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,71.4,999.0
$24V_AH,23.0,50.178
$10V_AH,10.0,33.608
$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,30.175,25.025,194.900,218.900,0.000,174.401,306.456,0.000,0.500,41.482,3575.518,33.877,387.511,1520.530,523.909,422.594,656.721,33.353,776.271,0.000,381.258,0.000,2.489
$DEVICE_MAMPS,199.420,109.681,664.989,566.046,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,153.086,0.000,0.000,0.000,0.000,0.000,0.000,3617.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6449,216
$CFSIZE,260231168,245940224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,071007,172215,4745.053,-12249.645,12,1.9,12,18.3