version: 66.02
glider: 117
mission: 4
dive: 341
start: 10 6 107 11 41 10
data:
$ID,117
$MISSION,4
$DIVE,341
$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,-24929.324
$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,29
$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
$GPS1,112714,4745.146,-12249.815,12,1.8,29,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.54
$_SM_ANGLEo,-62.2
$GPS2,114009,4745.157,-12249.828,16,1.9,16,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,FIVE_B
$TGT_LATLONG,4745.166,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.148,0.082
$KALMAN_X,37357.3,-76.4,10.0,-33712.6,-11.8
$KALMAN_Y,20617.0,-117.6,-34.8,-10524.8,3.0
$MHEAD_RNG_PITCHd_Wd,42.7,23,-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,-78.20,0.000,2,0.000,0.000,411,2217,3044
$GC,112,-1.83,-97.8,2.2,-5.2,13,150,13.20,2.55,-15.32,0.000,4,0.199,0.069,2493,3583,3604
$GC,401,-1.83,-97.8,37.3,-11.8,46,405,0.00,2.40,0.00,0.000,6,0.000,0.035,2494,2195,3606
$GC,597,-1.83,-97.8,59.5,-11.4,61,601,0.00,2.50,0.00,0.000,4,0.000,0.056,2494,3587,3606
$GC,669,-1.83,-97.8,68.1,-11.8,66,673,0.00,2.40,0.00,0.000,6,0.000,0.035,2493,2200,3606
$GC,865,-1.83,-97.8,90.2,-11.1,81,869,0.00,2.60,0.00,0.000,4,0.000,0.067,2494,803,3606
$GC,898,-1.83,-97.8,94.0,-11.7,83,902,0.00,2.45,0.00,0.000,6,0.000,0.037,2494,2200,3606
$STATE,914,end dive,TARGET_DEPTH_EXCEEDED
$STATE,914,begin apogee
$GC,921,-0.38,0.0,96.1,10.9,84,1004,1.62,0.00,78.18,0.665,6,0.108,0.000,2811,2138,3202
$STATE,1005,end apogee,CONTROL_FINISHED_OK
$STATE,1005,begin climb
$GC,1008,1.83,97.8,99.0,0.0,91,1090,2.25,0.00,76.78,0.645,6,0.060,0.000,3304,2138,2803
$GC,1276,1.83,97.8,82.5,8.0,113,1280,0.00,2.58,0.00,0.000,4,0.000,0.064,3304,763,2802
$GC,1322,1.83,97.8,78.8,8.6,116,1327,0.00,2.45,0.00,0.000,6,0.000,0.035,3304,2154,2801
$GC,1518,1.83,100.5,63.3,7.7,131,1525,0.00,2.60,1.62,0.801,4,0.000,0.061,3305,3544,2792
$GC,1605,1.83,100.5,56.1,8.4,137,1609,0.00,2.40,0.00,0.000,6,0.000,0.036,3304,2161,2792
$GC,1801,1.84,102.4,41.0,7.8,152,1802,0.00,0.00,0.00,0.000,6,0.000,0.000,3304,2161,2792
$GC,1994,1.84,109.7,26.7,7.3,167,2007,0.00,2.55,7.15,0.699,4,0.000,0.057,3304,3547,2753
$GC,2152,1.85,112.4,13.9,7.7,184,2159,0.00,2.42,1.85,0.780,6,0.000,0.036,3304,2146,2743
$GC,2228,1.88,142.2,9.7,5.6,195,2253,0.00,0.00,22.58,0.640,6,0.000,0.000,3304,2146,2622
$GC,2322,1.92,170.2,5.1,5.7,209,2329,0.00,0.00,5.07,0.691,2,0.000,0.000,3304,2146,2593
$STATE,2329,end climb,SURFACE_DEPTH_REACHED
$STATE,2329,begin surface coast
$FINISH,-0.2,1.022714
$STATE,2426,end surface coast,CONTROL_FINISHED_OK
$STATE,2426,begin surface
$SM_CCo,2457,138.32,0.578,0,0,1366,450.13
$SM_GC,0.61,0.00,0.00,138.32,0.000,0.000,0.578,409,2216,1366,-11.46,0.45,450.13
$IRIDIUM_FIX,4729.30,-12257.00,061007,151506
$TT8_MAMPS,0.071331
$HUMID,2156
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,20.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.2,999.0
$24V_AH,23.6,47.520
$10V_AH,10.1,31.391
$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,30.425,30.025,193.225,138.325,0.000,103.199,101.028,289.567,0.500,4.150,3482.850,16.675,431.896,1416.177,427.208,434.177,682.454,33.334,682.393,0.000,405.157,0.000,2.489
$DEVICE_MAMPS,199.420,90.506,800.748,577.551,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,159.216,0.000,0.000,0.000,0.000,0.000,0.000,3487.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6467,225
$CFSIZE,260231168,246919168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,122537,4745.204,-12249.551,19,1.0,35,18.3