version: 66.02
glider: 117
mission: 4
dive: 452
start: 10 10 107 12 44 34
data:
$ID,117
$MISSION,4
$DIVE,452
$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,-28002.738
$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,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
$GPS1,122134,4745.112,-12249.734,12,1.8,13,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.12
$_SM_ANGLEo,-55.2
$GPS2,124337,4745.357,-12249.717,29,1.5,29,18.3
$SPEED_LIMITS,0.137,0.241
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.057,-0.234
$KALMAN_X,35432.4,235.2,11.9,-31965.0,26.1
$KALMAN_Y,30322.2,681.5,160.7,-20860.3,104.3
$MHEAD_RNG_PITCHd_Wd,175.5,518,-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,29,end surface,CONTROL_FINISHED_OK
$STATE,29,begin dive
$GC,33,-1.32,-146.6,0.0,0.0,0,164,0.00,0.00,-127.60,0.000,2,0.000,0.000,407,2217,3280
$GC,168,-1.32,-146.6,2.1,-5.2,21,200,13.98,2.72,-12.35,0.000,4,0.200,0.074,2605,801,3803
$GC,221,-1.32,-146.6,9.5,-9.7,29,227,0.00,2.45,0.00,0.000,6,0.000,0.035,2606,2192,3804
$GC,294,-1.32,-146.6,16.4,-8.4,40,300,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2193,3804
$GC,367,-1.32,-146.6,22.6,-8.1,49,368,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2193,3804
$GC,558,-1.32,-146.6,38.7,-8.8,64,559,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2193,3804
$GC,749,-1.32,-146.6,55.2,-8.8,79,754,0.00,2.60,0.00,0.000,4,0.000,0.064,2605,802,3804
$GC,783,-1.32,-146.6,58.7,-9.3,81,787,0.00,2.45,0.00,0.000,6,0.000,0.035,2606,2203,3804
$GC,979,-1.32,-146.6,75.5,-8.5,96,980,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2203,3804
$GC,1171,-1.32,-146.6,91.5,-8.3,111,1172,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2203,3804
$STATE,1215,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1216,begin apogee
$GC,1224,-0.38,0.0,95.7,8.3,115,1343,1.00,0.00,114.38,0.672,6,0.091,0.000,2809,2132,3202
$STATE,1343,end apogee,CONTROL_FINISHED_OK
$STATE,1344,begin climb
$GC,1350,1.32,146.6,99.8,0.0,125,1468,1.75,0.00,113.38,0.651,6,0.060,0.000,3187,2132,2604
$GC,1655,1.36,177.9,85.2,6.8,150,1684,0.00,2.65,23.88,0.660,4,0.000,0.059,3187,3552,2476
$GC,1731,1.36,177.9,79.2,8.5,155,1737,0.00,2.42,0.00,0.000,6,0.000,0.035,3187,2164,2476
$GC,1927,1.36,179.4,64.0,7.9,171,1929,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2164,2476
$GC,2120,1.36,182.6,49.2,7.8,186,2132,0.00,2.58,3.15,0.746,4,0.000,0.058,3187,3546,2457
$GC,2165,1.36,182.6,45.1,8.8,189,2172,0.00,2.45,0.00,0.000,6,0.000,0.035,3187,2146,2457
$GC,2362,1.36,184.8,29.5,7.8,205,2365,0.00,0.00,1.77,0.790,6,0.000,0.000,3188,2145,2448
$GC,2554,1.37,193.0,13.8,7.6,226,2567,0.00,2.58,5.88,0.704,4,0.000,0.058,3188,3549,2415
$GC,2601,1.37,193.0,10.0,8.2,233,2607,0.00,2.45,0.00,0.000,6,0.000,0.035,3187,2144,2415
$STATE,2671,end climb,SURFACE_DEPTH_REACHED
$STATE,2671,begin surface coast
$FINISH,-0.7,1.022815
$STATE,2751,end surface coast,CONTROL_FINISHED_OK
$STATE,2751,begin surface
$SM_CCo,2783,200.80,0.576,0,0,746,602.46
$SM_GC,-0.07,0.00,0.00,200.80,0.000,0.000,0.576,405,2211,746,-11.48,0.31,602.46
$IRIDIUM_FIX,4726.11,-12248.15,101007,161648
$TT8_MAMPS,0.071331
$HUMID,2149
$INTERNAL_PRESSURE,7.89093
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.1,999.0
$24V_AH,23.6,58.458
$10V_AH,10.0,39.081
$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,29.325,25.500,262.425,200.800,0.000,181.147,285.556,407.586,0.250,0.000,4412.000,29.159,450.332,1700.395,594.903,449.167,1127.755,33.346,868.829,0.000,409.540,0.000,2.488
$DEVICE_MAMPS,200.187,74.399,790.010,576.017,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,181.477,0.000,0.000,0.000,0.000,0.000,0.000,4412.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6438,256
$CFSIZE,260231168,243683328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,101007,133529,4745.121,-12249.794,12,5.4,31,18.3