version: 66.02
glider: 117
mission: 4
dive: 338
start: 10 6 107 8 44 4
data:
$ID,117
$MISSION,4
$DIVE,338
$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,-24850.477
$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,31
$R_STBD_OVSHOOT,41
$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
$GPS1,083438,4745.048,-12249.876,30,1.7,30,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.54
$_SM_ANGLEo,-61.8
$GPS2,084307,4745.001,-12249.855,13,1.5,29,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,FIVE_B
$TGT_LATLONG,4745.166,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.020,0.169
$KALMAN_X,37479.8,-81.6,-19.4,-33834.3,5.2
$KALMAN_Y,20652.9,-12.0,-63.5,-10923.5,-66.7
$MHEAD_RNG_PITCHd_Wd,348.5,309,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-1.79,-68.1,0.0,0.0,0,109,0.00,0.00,-78.28,0.000,2,0.000,0.000,409,2216,3042
$GC,112,-1.83,-97.8,2.2,-4.9,13,149,13.27,2.67,-15.82,0.000,4,0.200,0.075,2494,798,3603
$GC,195,-1.83,-97.8,11.8,-12.9,26,201,0.00,2.45,0.00,0.000,6,0.000,0.036,2494,2194,3605
$GC,268,-1.83,-97.8,20.4,-11.4,37,269,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2194,3605
$GC,459,-1.83,-97.8,41.7,-11.1,52,460,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2194,3605
$GC,650,-1.83,-97.8,62.8,-11.2,67,654,0.00,2.55,0.00,0.000,4,0.000,0.059,2494,3603,3605
$GC,701,-1.83,-97.8,69.4,-11.8,70,708,0.00,2.42,0.00,0.000,6,0.000,0.035,2494,2198,3605
$GC,898,-1.83,-97.8,91.4,-11.0,86,899,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2198,3605
$STATE,933,end dive,TARGET_DEPTH_EXCEEDED
$STATE,933,begin apogee
$GC,940,-0.38,0.0,95.8,11.4,89,1023,1.62,0.00,77.43,0.670,6,0.110,0.000,2811,2137,3202
$STATE,1024,end apogee,CONTROL_FINISHED_OK
$STATE,1024,begin climb
$GC,1027,1.83,97.8,98.9,0.0,96,1109,2.25,0.00,76.50,0.649,6,0.061,0.000,3301,2138,2803
$GC,1295,1.83,97.8,83.3,8.0,118,1296,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,2137,2803
$GC,1486,1.84,102.5,68.3,7.5,133,1498,0.00,2.65,3.30,0.751,4,0.000,0.057,3301,3554,2784
$GC,1552,1.84,102.5,62.9,8.7,138,1556,0.00,2.42,0.00,0.000,6,0.000,0.035,3302,2161,2784
$GC,1747,1.84,103.8,47.3,7.8,153,1749,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,2161,2784
$GC,1939,1.84,103.8,32.5,8.0,168,1943,0.00,2.53,0.00,0.000,4,0.000,0.058,3302,3550,2784
$GC,2117,1.84,103.8,18.2,8.5,182,2124,0.00,2.42,0.00,0.000,6,0.000,0.035,3303,2146,2783
$GC,2190,1.86,122.1,13.3,6.5,193,2214,0.00,2.70,14.62,0.665,4,0.000,0.065,3301,752,2703
$GC,2234,1.90,153.8,10.8,5.4,200,2265,0.00,2.47,24.48,0.631,6,0.000,0.034,3302,2159,2574
$STATE,2321,end climb,SURFACE_DEPTH_REACHED
$STATE,2322,begin surface coast
$FINISH,-0.2,1.022650
$STATE,2418,end surface coast,CONTROL_FINISHED_OK
$STATE,2418,begin surface
$SM_CCo,2445,133.25,0.580,0,0,1366,450.13
$SM_GC,0.64,0.00,0.00,133.25,0.000,0.000,0.580,413,2160,1366,-11.44,-1.13,450.13
$IRIDIUM_FIX,4726.11,-12248.15,061007,111139
$TT8_MAMPS,0.071331
$HUMID,2177
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,71.5,999.0
$24V_AH,23.6,47.240
$10V_AH,10.1,31.163
$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,30.325,25.350,196.325,133.250,0.000,63.810,36.923,185.243,0.250,0.000,3199.000,29.564,419.401,1373.266,437.132,420.236,454.108,33.339,682.275,0.000,382.317,0.000,2.489
$DEVICE_MAMPS,200.187,108.147,750.893,579.852,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,161.290,0.000,0.000,0.000,0.000,0.000,0.000,3199.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6450,228
$CFSIZE,260231168,247013376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,092809,4745.197,-12249.822,12,1.7,30,18.3