version: 66.02
glider: 117
mission: 4
dive: 336
start: 10 6 107 6 55 20
data:
$ID,117
$MISSION,4
$DIVE,336
$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,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,25
$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,450
$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,-24786.516
$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,34
$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
$GPS1,064627,4745.147,-12249.788,11,1.8,11,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.54
$_SM_ANGLEo,-60.6
$GPS2,065421,4745.117,-12249.780,15,1.9,15,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,FIVE_B
$TGT_LATLONG,4745.166,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.035,0.166
$KALMAN_X,37530.6,-73.2,-38.7,-33781.6,-12.8
$KALMAN_Y,20746.7,74.6,-50.4,-10903.4,-54.3
$MHEAD_RNG_PITCHd_Wd,329.7,101,-22.2,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.79,-68.1,0.0,0.0,0,108,0.00,0.00,-78.25,0.000,2,0.000,0.000,408,2184,3035
$GC,111,-1.83,-97.8,2.3,-5.3,13,148,13.23,2.62,-15.55,0.000,4,0.199,0.077,2495,798,3603
$GC,188,-1.83,-97.8,11.5,-13.0,25,194,0.00,2.47,0.00,0.000,6,0.000,0.036,2495,2202,3604
$GC,260,-1.83,-97.8,19.9,-11.7,36,267,0.00,2.53,0.00,0.000,4,0.000,0.058,2495,3597,3604
$GC,313,-1.83,-97.8,26.0,-11.5,41,317,0.00,2.42,0.00,0.000,6,0.000,0.035,2495,2201,3605
$GC,508,-1.83,-97.8,48.4,-11.8,56,513,0.00,2.53,0.00,0.000,4,0.000,0.056,2494,3598,3605
$GC,541,-1.83,-97.8,52.4,-12.2,58,545,0.00,2.42,0.00,0.000,6,0.000,0.035,2495,2200,3605
$GC,737,-1.83,-97.8,74.6,-11.3,73,741,0.00,2.55,0.00,0.000,4,0.000,0.056,2495,3605,3605
$GC,762,-1.83,-97.8,77.6,-11.8,74,769,0.00,2.47,0.00,0.000,6,0.000,0.035,2494,2194,3605
$STATE,918,end dive,TARGET_DEPTH_EXCEEDED
$STATE,920,begin apogee
$GC,927,-0.38,0.0,95.4,11.0,87,1009,1.60,0.00,77.85,0.666,6,0.110,0.000,2812,2134,3202
$STATE,1010,end apogee,CONTROL_FINISHED_OK
$STATE,1010,begin climb
$GC,1013,1.83,97.8,98.4,0.0,94,1095,2.25,0.00,76.20,0.648,6,0.061,0.000,3302,2134,2803
$GC,1281,1.83,97.8,82.6,8.0,116,1286,0.00,2.58,0.00,0.000,4,0.000,0.055,3302,3553,2801
$GC,1333,1.83,97.8,78.2,8.0,119,1340,0.00,2.45,0.00,0.000,6,0.000,0.035,3302,2162,2801
$GC,1530,1.83,99.1,62.9,7.8,135,1534,0.00,2.50,0.00,0.000,4,0.000,0.055,3302,3547,2801
$GC,1642,1.83,99.1,53.4,8.1,143,1646,0.00,2.42,0.00,0.000,6,0.000,0.035,3302,2148,2801
$GC,1838,1.84,104.7,38.5,7.5,158,1851,0.00,2.55,4.93,0.719,4,0.000,0.056,3302,3549,2775
$GC,1919,1.84,104.7,31.8,8.4,164,1923,0.00,2.42,0.00,0.000,6,0.000,0.035,3302,2150,2774
$GC,2117,1.84,109.0,16.1,7.6,182,2123,0.00,0.00,3.25,0.743,6,0.000,0.000,3302,2150,2757
$GC,2190,1.88,139.8,11.4,5.5,193,2220,0.00,2.58,23.52,0.640,4,0.000,0.056,3302,3551,2631
$STATE,2304,end climb,SURFACE_DEPTH_REACHED
$STATE,2304,begin surface coast
$FINISH,-0.1,1.022668
$STATE,2423,end surface coast,CONTROL_FINISHED_OK
$STATE,2424,begin surface
$SM_CCo,2455,140.85,0.585,0,0,1367,450.13
$SM_GC,0.60,0.00,0.00,140.85,0.000,0.000,0.585,410,2182,1367,-11.44,-0.51,450.13
$IRIDIUM_FIX,4729.30,-12248.15,061007,090915
$TT8_MAMPS,0.072098
$HUMID,2170
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,20.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.3,999.0
$24V_AH,23.6,47.079
$10V_AH,10.1,31.025
$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,30.225,39.950,185.750,140.850,0.000,56.999,36.381,173.267,0.500,0.000,3176.000,15.447,432.232,1356.874,441.489,420.803,438.447,33.333,697.309,0.000,396.461,0.000,2.489
$DEVICE_MAMPS,198.653,108.914,743.223,585.221,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,161.938,0.000,0.000,0.000,0.000,0.000,0.000,3176.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6443,229
$CFSIZE,260231168,247066624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,061007,073947,4745.300,-12249.866,14,2.2,33,18.3