version: 66.02
glider: 117
mission: 4
dive: 379
start: 10 8 107 0 44 47
data:
$ID,117
$MISSION,4
$DIVE,379
$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,-25948.404
$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,30
$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
$GPS1,002845,4745.051,-12250.014,10,1.6,10,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.23
$_SM_ANGLEo,-60.1
$GPS2,004350,4745.031,-12250.023,16,1.5,33,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.143,0.092
$KALMAN_X,37823.1,-128.3,-7.2,-34352.3,21.0
$KALMAN_Y,29759.1,38.1,-21.4,-20065.1,-54.6
$MHEAD_RNG_PITCHd_Wd,38.8,278,-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,-68.1,0.0,0.0,0,130,0.00,0.00,-95.95,0.000,2,0.000,0.000,412,2206,3191
$GC,136,-1.83,-97.8,2.2,-5.4,16,167,13.23,2.55,-9.82,0.000,4,0.201,0.068,2492,3600,3605
$GC,274,-1.83,-97.8,22.9,-13.3,35,280,0.00,2.42,0.00,0.000,6,0.000,0.035,2493,2200,3606
$GC,470,-1.83,-97.8,44.9,-11.4,51,474,0.00,2.62,0.00,0.000,4,0.000,0.067,2493,799,3606
$GC,529,-1.83,-97.8,51.9,-11.5,55,533,0.00,2.45,0.00,0.000,6,0.000,0.036,2493,2197,3606
$GC,725,-1.83,-97.8,73.6,-10.9,70,729,0.00,2.53,0.00,0.000,4,0.000,0.058,2492,3595,3606
$GC,771,-1.83,-97.8,79.0,-11.6,73,775,0.00,2.42,0.00,0.000,6,0.000,0.035,2492,2197,3606
$STATE,913,end dive,TARGET_DEPTH_EXCEEDED
$STATE,913,begin apogee
$GC,921,-0.38,0.0,95.2,11.2,84,1003,1.62,0.00,77.60,0.669,6,0.109,0.000,2810,2134,3202
$STATE,1004,end apogee,CONTROL_FINISHED_OK
$STATE,1004,begin climb
$GC,1007,1.83,97.8,98.3,0.0,91,1090,2.28,0.00,76.53,0.649,6,0.060,0.000,3306,2134,2803
$GC,1276,1.83,100.0,82.2,7.7,113,1280,0.00,2.58,0.00,0.000,4,0.000,0.055,3306,3550,2801
$GC,1328,1.83,100.0,77.8,8.1,116,1335,0.00,2.42,0.00,0.000,6,0.000,0.035,3307,2160,2801
$GC,1524,1.83,100.0,62.2,8.0,132,1528,0.00,2.53,0.00,0.000,4,0.000,0.055,3306,3546,2801
$GC,1603,1.83,100.0,55.9,8.1,137,1609,0.00,2.42,0.00,0.000,6,0.000,0.035,3306,2150,2801
$GC,1799,1.83,100.0,41.0,7.9,153,1800,0.00,0.00,0.00,0.000,6,0.000,0.000,3306,2150,2801
$GC,1991,1.84,106.3,26.9,7.4,168,2004,0.00,2.65,6.15,0.707,4,0.000,0.066,3306,748,2767
$GC,2050,1.85,110.7,22.3,7.6,172,2060,0.00,2.47,3.15,0.740,6,0.000,0.035,3306,2152,2750
$GC,2259,1.93,176.6,12.4,2.8,201,2313,0.00,0.00,50.70,0.623,6,0.000,0.000,3307,2152,2481
$STATE,2376,end climb,SURFACE_DEPTH_REACHED
$STATE,2377,begin surface coast
$FINISH,-0.4,1.022933
$STATE,2431,end surface coast,CONTROL_FINISHED_OK
$STATE,2431,begin surface
$SM_CCo,2462,208.00,0.571,0,0,746,602.46
$SM_GC,0.22,0.00,0.00,208.00,0.000,0.000,0.571,408,2214,746,-11.46,0.40,602.46
$IRIDIUM_FIX,4729.30,-12249.89,081007,040432
$TT8_MAMPS,0.074399
$HUMID,2145
$INTERNAL_PRESSURE,7.89093
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.8,999.0
$24V_AH,23.6,51.004
$10V_AH,10.1,34.243
$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,30.275,30.175,214.125,208.000,0.000,172.278,326.006,0.000,0.500,0.000,3619.000,32.999,415.833,1533.893,528.865,431.409,680.489,33.339,783.832,0.000,391.988,0.000,2.489
$DEVICE_MAMPS,200.954,108.147,740.155,571.415,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,161.488,0.000,0.000,0.000,0.000,0.000,0.000,3619.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6467,228
$CFSIZE,260231168,245673984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081007,013037,4745.135,-12249.791,33,1.2,43,18.3