version: 66.02
glider: 117
mission: 4
dive: 418
start: 10 9 107 8 1 46
data:
$ID,117
$MISSION,4
$DIVE,418
$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,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$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,-27063.029
$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,27
$R_STBD_OVSHOOT,31
$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
$GPS1,075137,4744.727,-12250.103,14,1.1,30,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-57.0
$GPS2,080038,4744.675,-12250.131,10,1.2,15,18.3
$SPEED_LIMITS,0.137,0.241
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.097,0.220
$KALMAN_X,34795.6,-527.8,-166.9,-30899.2,29.0
$KALMAN_Y,26883.8,-707.7,-285.5,-16838.0,-21.4
$MHEAD_RNG_PITCHd_Wd,5.5,856,-14.8,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-1.32,-146.6,0.0,0.0,0,160,0.00,0.00,-127.43,0.000,2,0.000,0.000,402,2156,3364
$GC,164,-1.32,-146.6,2.3,-4.3,21,194,14.05,0.00,-9.55,0.000,6,0.201,0.000,2605,2156,3802
$GC,261,-1.32,-146.6,15.3,-8.0,36,266,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2156,3803
$GC,339,-1.32,-146.6,22.3,-8.9,46,340,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2156,3803
$GC,532,-1.32,-146.6,38.4,-8.6,61,533,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2156,3803
$GC,720,-1.32,-146.6,54.4,-8.4,76,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2156,3803
$GC,910,-1.32,-146.6,70.1,-8.2,91,914,0.00,2.62,0.00,0.000,4,0.000,0.059,2605,3597,3803
$GC,935,-1.32,-146.6,72.7,-8.7,92,941,0.00,2.42,0.00,0.000,6,0.000,0.035,2605,2193,3803
$GC,1131,-1.32,-146.6,88.6,-8.2,108,1136,0.00,2.60,0.00,0.000,4,0.000,0.069,2605,802,3803
$GC,1166,-1.32,-146.6,91.4,-8.5,110,1171,0.00,2.47,0.00,0.000,6,0.000,0.037,2605,2209,3803
$STATE,1208,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1208,begin apogee
$GC,1216,-0.38,0.0,95.4,8.7,113,1335,1.00,0.00,114.10,0.662,6,0.091,0.000,2808,2131,3203
$STATE,1336,end apogee,CONTROL_FINISHED_OK
$STATE,1336,begin climb
$GC,1341,1.32,146.6,99.5,0.0,123,1460,1.75,0.00,113.18,0.641,6,0.061,0.000,3188,2131,2604
$GC,1646,1.32,152.5,84.2,7.7,148,1657,0.00,0.00,4.22,0.714,6,0.000,0.000,3188,2131,2580
$GC,1847,1.33,157.7,68.6,7.7,164,1853,0.00,0.00,3.78,0.725,6,0.000,0.000,3188,2131,2559
$GC,2037,1.33,157.8,54.1,7.9,179,2041,0.00,2.58,0.00,0.000,4,0.000,0.058,3188,3546,2559
$GC,2089,1.33,157.8,49.7,8.8,182,2095,0.00,2.40,0.00,0.000,6,0.000,0.037,3188,2169,2559
$GC,2285,1.34,166.5,34.7,7.6,198,2296,0.00,0.00,6.65,0.696,6,0.000,0.000,3188,2170,2523
$GC,2487,1.34,166.5,19.0,8.1,215,2493,0.00,2.53,0.00,0.000,4,0.000,0.059,3189,3550,2522
$GC,2546,1.34,166.5,14.3,8.3,224,2552,0.00,2.45,0.00,0.000,6,0.000,0.036,3189,2146,2522
$GC,2620,1.36,179.1,8.9,7.5,235,2638,0.00,2.67,9.35,0.671,4,0.000,0.067,3188,760,2472
$STATE,2682,end climb,SURFACE_DEPTH_REACHED
$STATE,2682,begin surface coast
$FINISH,4.5,1.022200
$STATE,2689,end surface coast,CONTROL_FINISHED_OK
$STATE,2689,begin surface
$SM_CCo,2721,152.80,0.578,0,0,1163,500.17
$SM_GC,-0.05,0.00,0.00,152.80,0.000,0.000,0.578,409,2204,1163,-11.46,0.11,500.17
$IRIDIUM_FIX,4726.11,-12250.84,091007,111145
$TT8_MAMPS,0.075166
$HUMID,2175
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.1,999.0
$24V_AH,23.7,54.996
$10V_AH,10.0,36.780
$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,30.000,25.400,251.275,152.800,0.000,60.264,35.331,226.747,0.250,0.000,3595.000,15.795,434.978,1508.892,546.352,417.240,537.802,33.326,809.365,0.000,391.288,0.000,7.485
$DEVICE_MAMPS,200.954,69.030,724.815,578.318,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,174.137,0.000,0.000,0.000,0.000,0.000,0.000,3595.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6459,246
$CFSIZE,260231168,244637696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091007,085032,4744.934,-12249.954,9,1.7,14,18.3