version: 66.02
glider: 117
mission: 4
dive: 451
start: 10 10 107 11 30 44
data:
$ID,117
$MISSION,4
$DIVE,451
$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,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,-27972.949
$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,26
$R_STBD_OVSHOOT,29
$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
$GPS1,111456,4745.156,-12249.689,9,1.4,14,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.10
$_SM_ANGLEo,-56.4
$GPS2,112947,4745.337,-12249.651,11,2.7,30,18.3
$SPEED_LIMITS,0.137,0.241
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.079,-0.227
$KALMAN_X,35304.8,246.3,39.0,-31795.5,1.8
$KALMAN_Y,29836.6,691.2,142.8,-20402.2,116.7
$MHEAD_RNG_PITCHd_Wd,180.9,509,-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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,32,-1.32,-146.6,0.0,0.0,0,140,0.00,0.00,-101.65,0.000,2,0.000,0.000,407,2193,3283
$GC,144,-1.32,-146.6,2.1,-5.0,17,175,13.90,0.00,-11.57,0.000,6,0.199,0.000,2607,2194,3802
$GC,241,-1.32,-146.6,14.7,-10.0,32,246,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2194,3804
$GC,320,-1.32,-146.6,21.5,-8.6,43,321,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2194,3804
$GC,513,-1.32,-146.6,37.6,-8.4,58,517,0.00,2.62,0.00,0.000,4,0.000,0.067,2607,796,3804
$GC,539,-1.32,-146.6,40.3,-8.8,59,545,0.00,2.47,0.00,0.000,6,0.000,0.036,2608,2204,3804
$GC,735,-1.32,-146.6,56.5,-8.4,75,736,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2204,3804
$GC,928,-1.32,-146.6,71.8,-7.8,90,929,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2204,3804
$GC,1116,-1.32,-146.6,87.0,-8.0,105,1120,0.00,2.62,0.00,0.000,4,0.000,0.065,2608,800,3804
$GC,1142,-1.32,-146.6,89.5,-8.1,106,1148,0.00,2.45,0.00,0.000,6,0.000,0.036,2607,2200,3804
$STATE,1221,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1221,begin apogee
$GC,1230,-0.38,0.0,96.0,8.1,113,1349,1.00,0.00,115.12,0.670,6,0.092,0.000,2811,2128,3202
$STATE,1350,end apogee,CONTROL_FINISHED_OK
$STATE,1350,begin climb
$GC,1357,1.32,146.6,99.8,0.0,123,1475,1.73,0.00,113.57,0.650,6,0.061,0.000,3183,2128,2604
$GC,1662,1.33,154.0,84.2,7.7,148,1675,0.00,2.62,5.20,0.717,4,0.000,0.058,3183,3547,2574
$GC,1721,1.33,154.0,79.2,8.7,152,1727,0.00,2.42,0.00,0.000,6,0.000,0.036,3183,2162,2574
$GC,1917,1.33,157.9,64.1,7.8,168,1922,0.00,0.00,2.90,0.762,6,0.000,0.000,3183,2161,2558
$GC,2106,1.33,157.9,49.6,8.0,183,2107,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2162,2558
$GC,2298,1.34,168.8,35.0,7.5,198,2312,0.00,2.60,8.32,0.696,4,0.000,0.058,3183,3551,2513
$GC,2380,1.34,168.8,28.3,8.1,204,2385,0.00,2.45,0.00,0.000,6,0.000,0.036,3183,2148,2513
$GC,2581,1.36,181.7,12.7,7.5,226,2593,0.00,0.00,9.50,0.681,6,0.000,0.000,3183,2148,2461
$GC,2663,1.39,206.1,7.2,7.0,238,2687,0.00,0.00,18.50,0.646,6,0.000,0.000,3183,2148,2360
$STATE,2691,end climb,SURFACE_DEPTH_REACHED
$STATE,2691,begin surface coast
$FINISH,-0.8,1.022755
$STATE,2771,end surface coast,CONTROL_FINISHED_OK
$STATE,2771,begin surface
$SM_CCo,2803,194.80,0.575,0,0,746,602.46
$SM_GC,-0.13,0.00,0.00,194.80,0.000,0.000,0.575,406,2216,746,-11.47,0.45,602.46
$IRIDIUM_FIX,4729.30,-12245.46,101007,151556
$TT8_MAMPS,0.071331
$HUMID,2152
$INTERNAL_PRESSURE,7.89093
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.8,999.0
$24V_AH,23.6,58.325
$10V_AH,10.0,38.985
$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,29.225,20.425,273.125,194.800,0.000,176.663,300.675,0.000,0.250,0.000,3939.000,31.036,456.385,1722.827,577.426,445.443,701.861,33.342,847.234,0.000,414.313,0.000,2.488
$DEVICE_MAMPS,198.653,69.030,762.398,575.250,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,180.798,0.000,0.000,0.000,0.000,0.000,0.000,3939.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6438,255
$CFSIZE,260231168,243720192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,101007,122134,4745.112,-12249.734,12,1.8,13,18.3