version: 66.02
glider: 117
mission: 4
dive: 373
start: 10 7 107 18 36 1
data:
$ID,117
$MISSION,4
$DIVE,373
$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,-25784.551
$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,40
$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
$GPS1,181945,4744.953,-12249.876,12,1.5,12,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.19
$_SM_ANGLEo,-55.4
$GPS2,183502,4745.014,-12249.929,10,1.5,15,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.163,0.049
$KALMAN_X,38210.4,-241.4,-60.4,-34456.6,-36.0
$KALMAN_Y,29404.6,47.7,106.9,-19884.9,81.6
$MHEAD_RNG_PITCHd_Wd,54.9,194,-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,-68.1,0.0,0.0,0,129,0.00,0.00,-96.00,0.000,2,0.000,0.000,401,2217,3164
$GC,135,-1.83,-97.8,2.0,-5.4,16,166,13.32,2.50,-11.07,0.000,4,0.201,0.069,2493,3588,3603
$GC,416,-1.83,-97.8,39.2,-11.1,47,422,0.00,2.40,0.00,0.000,6,0.000,0.035,2493,2199,3605
$GC,614,-1.83,-97.8,60.0,-11.0,63,618,0.00,2.53,0.00,0.000,4,0.000,0.056,2493,3591,3605
$GC,654,-1.83,-97.8,64.8,-11.5,65,660,0.00,2.40,0.00,0.000,6,0.000,0.035,2493,2201,3605
$GC,850,-1.83,-97.8,86.5,-10.7,81,851,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2201,3605
$STATE,935,end dive,TARGET_DEPTH_EXCEEDED
$STATE,935,begin apogee
$GC,943,-0.38,0.0,95.9,10.5,88,1025,1.62,0.00,76.93,0.681,6,0.110,0.000,2809,2139,3202
$STATE,1026,end apogee,CONTROL_FINISHED_OK
$STATE,1026,begin climb
$GC,1029,1.83,97.8,98.7,0.0,95,1111,2.28,0.00,76.43,0.654,6,0.062,0.000,3304,2139,2803
$GC,1298,1.83,97.8,80.7,9.1,117,1299,0.00,0.00,0.00,0.000,6,0.000,0.000,3304,2139,2801
$GC,1489,1.83,97.8,63.9,8.9,132,1493,0.00,2.55,0.00,0.000,4,0.000,0.055,3304,3545,2801
$GC,1567,1.83,97.8,56.3,9.4,137,1574,0.00,2.40,0.00,0.000,6,0.000,0.035,3304,2160,2801
$GC,1764,1.83,97.8,39.6,8.2,153,1765,0.00,0.00,0.00,0.000,6,0.000,0.000,3304,2160,2801
$GC,1955,1.83,97.8,24.3,8.1,168,1960,0.00,2.50,0.00,0.000,4,0.000,0.056,3304,3540,2800
$GC,1981,1.87,132.0,22.7,5.2,169,2012,0.00,2.42,25.83,0.642,6,0.000,0.035,3304,2140,2663
$GC,2211,1.88,140.4,8.4,7.3,199,2224,0.00,2.58,6.22,0.693,4,0.000,0.055,3304,3542,2628
$STATE,2261,end climb,SURFACE_DEPTH_REACHED
$STATE,2261,begin surface coast
$FINISH,-0.5,1.022894
$STATE,2348,end surface coast,CONTROL_FINISHED_OK
$STATE,2348,begin surface
$SM_CCo,2381,227.82,0.571,0,0,747,602.46
$SM_GC,0.21,0.00,0.00,227.82,0.000,0.000,0.571,408,2189,747,-11.46,-0.31,602.46
$IRIDIUM_FIX,4729.30,-12257.00,071007,222230
$TT8_MAMPS,0.073632
$HUMID,2148
$INTERNAL_PRESSURE,7.90069
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,71.1,999.0
$24V_AH,23.6,50.377
$10V_AH,10.1,33.761
$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,30.475,24.675,185.400,227.825,0.000,177.484,345.679,0.000,0.250,0.000,3558.000,15.087,408.581,1505.075,525.196,395.527,709.382,33.349,761.640,0.000,376.020,0.000,2.488
$DEVICE_MAMPS,200.954,108.914,693.368,571.415,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,155.831,0.000,0.000,0.000,0.000,0.000,0.000,3558.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6450,220
$CFSIZE,260231168,245891072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,192021,4745.095,-12249.680,13,1.8,13,18.3