version: 66.02
glider: 117
mission: 4
dive: 450
start: 10 10 107 10 25 52
data:
$ID,117
$MISSION,4
$DIVE,450
$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,60
$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,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,-27941.285
$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,28
$R_STBD_OVSHOOT,26
$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
$GPS1,100620,4745.180,-12249.742,7,1.8,7,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.21
$_SM_ANGLEo,-51.8
$GPS2,102455,4745.399,-12249.718,28,2.0,45,18.3
$SPEED_LIMITS,0.137,0.241
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.037,-0.238
$KALMAN_X,35138.1,248.7,71.5,-31745.0,-14.0
$KALMAN_Y,29416.9,712.8,163.2,-19911.6,77.1
$MHEAD_RNG_PITCHd_Wd,170.6,593,-14.8,-7.917
$D_GRID,173
$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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,32,-1.32,-146.6,0.0,0.0,0,163,0.00,0.00,-127.50,0.000,2,0.000,0.000,409,2198,3279
$GC,167,-1.32,-146.6,2.2,-6.0,21,198,13.88,0.00,-12.43,0.000,6,0.198,0.000,2605,2198,3803
$GC,265,-1.32,-146.6,13.5,-9.9,36,270,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2198,3804
$GC,338,-1.32,-146.6,19.6,-7.7,47,343,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2198,3804
$GC,408,-1.32,-146.6,25.9,-8.9,53,412,0.00,2.60,0.00,0.000,4,0.000,0.064,2606,802,3804
$GC,433,-1.32,-146.6,28.3,-8.7,54,440,0.00,2.47,0.00,0.000,6,0.000,0.036,2606,2204,3804
$GC,630,-1.32,-146.6,44.7,-8.3,70,631,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2204,3804
$GC,822,-1.32,-146.6,61.0,-8.6,85,826,0.00,2.62,0.00,0.000,4,0.000,0.064,2606,800,3804
$GC,855,-1.32,-146.6,64.1,-8.9,87,859,0.00,2.47,0.00,0.000,6,0.000,0.036,2605,2206,3804
$GC,1053,-1.32,-146.6,80.4,-8.0,102,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2207,3804
$STATE,1240,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1241,begin apogee
$GC,1249,-0.38,0.0,95.8,8.4,117,1367,1.00,0.00,114.30,0.671,6,0.091,0.000,2809,2137,3203
$STATE,1368,end apogee,CONTROL_FINISHED_OK
$STATE,1368,begin climb
$GC,1374,1.32,146.6,99.8,0.0,127,1500,1.77,2.65,113.10,0.646,4,0.063,0.058,3184,3552,2603
$GC,1519,1.36,185.0,95.0,6.5,138,1554,0.00,2.45,29.35,0.648,6,0.000,0.035,3183,2157,2447
$GC,1753,1.36,185.0,76.2,8.0,157,1754,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2156,2447
$GC,1944,1.36,185.0,60.7,8.3,172,1946,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2156,2446
$GC,2134,1.36,185.0,45.3,8.1,187,2135,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2157,2447
$GC,2323,1.36,185.0,30.1,8.1,202,2327,0.00,2.55,0.00,0.000,4,0.000,0.058,3183,3556,2446
$GC,2388,1.36,185.0,24.2,8.6,206,2395,0.00,2.45,0.00,0.000,6,0.000,0.036,3184,2144,2447
$GC,2592,1.38,199.9,8.7,7.4,233,2610,0.00,2.60,11.00,0.669,4,0.000,0.058,3183,3547,2387
$STATE,2641,end climb,SURFACE_DEPTH_REACHED
$STATE,2641,begin surface coast
$FINISH,-0.6,1.022744
$STATE,2721,end surface coast,CONTROL_FINISHED_OK
$STATE,2721,begin surface
$SM_CCo,2756,135.45,0.582,0,0,1163,500.17
$SM_GC,-0.11,0.00,0.00,135.45,0.000,0.000,0.582,407,2194,1163,-11.47,-0.17,500.17
$IRIDIUM_FIX,4726.11,-12250.84,101007,141415
$TT8_MAMPS,0.072865
$HUMID,2157
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.2,999.0
$24V_AH,23.6,58.217
$10V_AH,10.0,38.902
$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,29.025,25.325,267.750,135.450,0.000,146.370,191.326,387.798,0.500,0.000,4172.000,45.835,442.475,1620.136,516.065,483.045,959.744,33.339,805.337,0.000,424.770,0.000,2.488
$DEVICE_MAMPS,197.886,69.797,671.125,582.153,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,179.324,0.000,0.000,0.000,0.000,0.000,0.000,4172.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6441,253
$CFSIZE,260231168,243761152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101007,111456,4745.156,-12249.689,9,1.4,14,18.3