version: 66.02
glider: 117
mission: 4
dive: 453
start: 10 10 107 13 51 26
data:
$ID,117
$MISSION,4
$DIVE,453
$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,-28037.619
$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,39
$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
$GPS1,133529,4745.121,-12249.794,12,5.4,31,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.11
$_SM_ANGLEo,-54.5
$GPS2,135029,4745.241,-12249.861,14,2.7,33,18.3
$SPEED_LIMITS,0.137,0.241
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.022,-0.157
$KALMAN_X,35427.4,223.9,0.8,-32114.9,3.2
$KALMAN_Y,30641.3,655.9,171.2,-21375.5,94.3
$MHEAD_RNG_PITCHd_Wd,153.7,294,-23.8,-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,-1.91,-59.4,0.0,0.0,0,163,0.00,0.00,-127.93,0.000,2,0.000,0.000,405,2212,3340
$GC,167,-1.94,-84.2,2.4,-5.7,21,193,13.20,2.53,-4.72,0.000,4,0.202,0.068,2471,3595,3549
$GC,227,-1.94,-84.2,13.2,-14.5,30,233,0.00,2.42,0.00,0.000,6,0.000,0.035,2471,2197,3550
$GC,299,-1.94,-84.2,22.2,-12.8,40,300,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2197,3551
$GC,491,-1.94,-84.2,44.0,-11.5,55,492,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2197,3551
$GC,680,-1.94,-84.2,65.9,-11.5,70,684,0.00,2.53,0.00,0.000,4,0.000,0.056,2471,3590,3551
$GC,705,-1.94,-84.2,69.4,-11.9,71,713,0.00,2.40,0.00,0.000,6,0.000,0.035,2470,2201,3551
$GC,904,-1.94,-84.2,91.4,-11.1,87,908,0.00,2.53,0.00,0.000,4,0.000,0.056,2470,3596,3551
$STATE,934,end dive,TARGET_DEPTH_EXCEEDED
$STATE,934,begin apogee
$GC,944,-0.38,0.0,95.7,12.2,89,1016,1.75,0.00,66.72,0.680,6,0.116,0.000,2813,2152,3202
$STATE,1017,end apogee,CONTROL_FINISHED_OK
$STATE,1017,begin climb
$GC,1021,1.94,84.2,98.9,0.0,95,1091,2.35,0.00,65.30,0.663,6,0.059,0.000,3327,2152,2858
$GC,1278,1.95,92.9,85.3,7.1,116,1289,0.00,2.62,6.25,0.727,4,0.000,0.055,3326,3545,2823
$GC,1348,1.95,92.9,79.5,8.1,121,1355,0.00,2.45,0.00,0.000,6,0.000,0.035,3326,2140,2823
$GC,1545,1.95,95.4,64.2,7.7,137,1552,0.00,2.62,1.55,0.812,4,0.000,0.055,3326,3545,2813
$GC,1606,1.95,96.4,59.3,7.8,141,1610,0.00,2.42,0.00,0.000,6,0.000,0.035,3326,2150,2813
$GC,1809,1.95,98.8,43.5,7.7,157,1813,0.00,0.00,2.60,0.775,6,0.000,0.000,3326,2150,2799
$GC,1998,1.96,100.7,29.3,7.8,172,2004,0.00,2.55,1.42,0.823,4,0.000,0.056,3326,3545,2791
$GC,2057,1.96,100.7,24.6,8.3,176,2062,0.00,2.42,0.00,0.000,6,0.000,0.035,3326,2151,2791
$GC,2260,1.99,125.5,10.9,5.7,201,2285,0.00,2.58,18.75,0.660,4,0.000,0.057,3326,3537,2690
$STATE,2348,end climb,SURFACE_DEPTH_REACHED
$STATE,2348,begin surface coast
$FINISH,-0.7,1.022841
$STATE,2444,end surface coast,CONTROL_FINISHED_OK
$STATE,2444,begin surface
$SM_CCo,2477,231.70,0.573,0,0,746,602.46
$SM_GC,-0.17,0.00,0.00,231.70,0.000,0.000,0.573,408,2189,746,-11.46,-0.31,602.46
$IRIDIUM_FIX,4729.30,-12252.58,101007,171731
$TT8_MAMPS,0.073632
$HUMID,2137
$INTERNAL_PRESSURE,7.89093
$TCM_TEMP,20.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.1,999.0
$24V_AH,23.7,58.552
$10V_AH,10.0,39.160
$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,30.675,34.950,162.600,231.700,0.000,183.578,300.675,0.000,0.500,0.000,3702.000,34.249,424.373,1551.721,534.640,420.171,692.305,33.340,784.266,0.000,381.679,0.000,2.498
$DEVICE_MAMPS,202.488,68.263,822.991,572.949,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,162.238,0.000,0.000,0.000,0.000,0.000,0.000,3702.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6448,229
$CFSIZE,260231168,243646464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101007,143755,4745.102,-12249.850,23,1.5,41,18.3