version: 66.02
glider: 117
mission: 4
dive: 372
start: 10 7 107 17 37 7
data:
$ID,117
$MISSION,4
$DIVE,372
$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,500
$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,-25768.838
$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,32
$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
$GPS1,172215,4745.053,-12249.645,12,1.9,12,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-52.2
$GPS2,173607,4745.103,-12249.723,15,1.2,31,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.079,-0.151
$KALMAN_X,38254.5,-239.2,-35.8,-34268.5,-73.1
$KALMAN_Y,29192.9,71.8,115.2,-19541.7,56.3
$MHEAD_RNG_PITCHd_Wd,189.3,119,-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,-68.1,0.0,0.0,0,158,0.00,0.00,-127.50,0.000,2,0.000,0.000,409,2185,3370
$GC,162,-1.82,-93.7,2.6,-5.9,21,187,13.25,0.00,-4.80,0.000,6,0.200,0.000,2494,2186,3585
$GC,253,-1.82,-93.7,17.6,-14.1,35,259,0.00,2.60,0.00,0.000,4,0.000,0.066,2494,802,3587
$GC,311,-1.82,-93.7,25.3,-12.3,41,318,0.00,2.45,0.00,0.000,6,0.000,0.036,2494,2198,3587
$GC,507,-1.82,-93.7,47.8,-10.9,57,512,0.00,2.55,0.00,0.000,4,0.000,0.059,2494,3604,3587
$GC,572,-1.82,-93.7,55.0,-10.9,61,579,0.00,2.42,0.00,0.000,6,0.000,0.035,2494,2203,3587
$GC,769,-1.82,-93.7,76.0,-10.8,77,770,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2203,3587
$STATE,942,end dive,TARGET_DEPTH_EXCEEDED
$STATE,942,begin apogee
$GC,953,-0.38,0.0,95.0,11.0,91,1031,1.60,0.00,71.05,0.666,6,0.111,0.000,2810,2139,3202
$STATE,1032,end apogee,CONTROL_FINISHED_OK
$STATE,1032,begin climb
$GC,1036,1.82,93.7,97.8,0.0,98,1121,2.25,2.67,73.80,0.652,4,0.061,0.063,3305,764,2820
$GC,1153,1.84,102.3,92.8,7.2,107,1165,0.00,2.45,6.60,0.697,6,0.000,0.034,3305,2157,2785
$GC,1355,1.84,102.3,74.8,9.0,123,1360,0.00,2.53,0.00,0.000,4,0.000,0.061,3305,3544,2786
$GC,1484,1.84,102.3,63.0,9.7,132,1488,0.00,2.42,0.00,0.000,6,0.000,0.036,3305,2151,2786
$GC,1681,1.84,102.3,46.0,8.6,147,1685,0.00,2.53,0.00,0.000,4,0.000,0.056,3305,3545,2787
$GC,1799,1.84,102.3,35.1,9.3,155,1806,0.00,2.42,0.00,0.000,6,0.000,0.035,3305,2148,2786
$GC,1996,1.89,146.2,23.0,4.5,171,2036,0.00,2.60,33.88,0.634,4,0.000,0.055,3305,3541,2605
$GC,2191,1.90,153.2,8.6,7.4,196,2203,0.00,2.42,4.97,0.692,6,0.000,0.035,3305,2147,2577
$STATE,2240,end climb,SURFACE_DEPTH_REACHED
$STATE,2240,begin surface coast
$FINISH,-0.4,1.022886
$STATE,2321,end surface coast,CONTROL_FINISHED_OK
$STATE,2321,begin surface
$SM_CCo,2352,156.32,0.575,0,0,1163,500.17
$SM_GC,0.29,0.00,0.00,156.32,0.000,0.000,0.575,401,2217,1163,-11.50,0.48,500.17
$IRIDIUM_FIX,4726.11,-12259.69,071007,202057
$TT8_MAMPS,0.071331
$HUMID,2144
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,20.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.7,999.0
$24V_AH,23.7,50.278
$10V_AH,10.0,33.685
$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,30.050,30.200,190.300,156.325,0.000,63.603,36.083,486.274,0.250,0.000,3515.000,31.905,397.510,1262.587,472.746,443.093,785.087,33.355,740.018,0.000,397.007,0.000,2.491
$DEVICE_MAMPS,200.187,108.914,697.203,575.250,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,153.005,0.000,0.000,0.000,0.000,0.000,0.000,3515.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6456,216
$CFSIZE,260231168,245940224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,071007,181945,4744.953,-12249.876,12,1.5,12,18.3