version: 66.02
glider: 117
mission: 4
dive: 343
start: 10 6 107 13 42 8
data:
$ID,117
$MISSION,4
$DIVE,343
$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,-24974.395
$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
$GPS1,133253,4745.125,-12249.848,11,2.6,30,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.56
$_SM_ANGLEo,-61.2
$GPS2,134109,4745.146,-12249.842,12,1.6,12,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.039,-0.165
$KALMAN_X,37352.1,-62.8,2.9,-33731.7,7.0
$KALMAN_Y,20538.7,-147.3,17.6,-10488.3,-1.3
$MHEAD_RNG_PITCHd_Wd,148.3,115,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,30,-1.79,-68.1,0.0,0.0,0,111,0.00,0.00,-78.32,0.000,2,0.000,0.000,411,2207,3047
$GC,114,-1.83,-97.8,2.2,-4.9,13,145,13.20,0.00,-15.35,0.000,6,0.199,0.000,2493,2207,3603
$GC,212,-1.83,-97.8,14.5,-13.2,28,217,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2207,3606
$GC,289,-1.83,-97.8,23.3,-11.5,38,291,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2207,3606
$GC,483,-1.83,-97.8,44.0,-11.1,53,487,0.00,2.50,0.00,0.000,4,0.000,0.058,2493,3587,3606
$GC,523,-1.83,-97.8,49.1,-11.5,55,529,0.00,2.40,0.00,0.000,6,0.000,0.035,2493,2199,3606
$GC,719,-1.83,-97.8,71.5,-11.8,71,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2198,3606
$GC,912,-1.83,-97.8,93.0,-11.2,86,916,0.00,2.53,0.00,0.000,4,0.000,0.057,2492,3590,3606
$STATE,928,end dive,TARGET_DEPTH_EXCEEDED
$STATE,928,begin apogee
$GC,938,-0.38,0.0,95.8,11.5,87,1020,1.62,0.00,77.65,0.669,6,0.112,0.000,2814,2147,3202
$STATE,1021,end apogee,CONTROL_FINISHED_OK
$STATE,1021,begin climb
$GC,1024,1.83,97.8,98.9,0.0,94,1106,2.22,0.00,76.12,0.660,6,0.059,0.000,3300,2146,2803
$GC,1293,1.83,97.8,83.1,8.3,116,1294,0.00,0.00,0.00,0.000,6,0.000,0.000,3300,2147,2801
$GC,1484,1.83,100.7,68.4,7.7,131,1490,0.00,2.60,1.70,0.802,4,0.000,0.056,3300,3541,2791
$GC,1599,1.83,100.7,58.6,8.9,139,1603,0.00,2.42,0.00,0.000,6,0.000,0.036,3302,2148,2791
$GC,1795,1.83,101.8,42.8,7.8,154,1799,0.00,2.53,0.00,0.000,4,0.000,0.058,3300,3537,2791
$GC,1886,1.83,101.8,34.9,8.6,160,1893,0.00,2.40,0.00,0.000,6,0.000,0.036,3300,2152,2791
$GC,2083,1.84,105.2,19.7,7.7,176,2095,0.00,2.60,3.33,0.742,4,0.000,0.057,3300,3541,2772
$GC,2347,1.96,202.8,8.6,0.3,216,2434,0.12,2.42,74.68,0.614,6,0.067,0.035,3328,2137,2375
$STATE,2445,end climb,SURFACE_DEPTH_REACHED
$STATE,2445,begin surface coast
$FINISH,-0.2,1.022788
$STATE,2528,end surface coast,CONTROL_FINISHED_OK
$STATE,2528,begin surface
$SM_CCo,2556,111.00,0.573,0,0,1367,450.13
$SM_GC,0.54,0.00,0.00,111.00,0.000,0.000,0.573,404,2201,1367,-11.48,0.06,450.13
$IRIDIUM_FIX,4729.30,-12248.15,061007,161603
$TT8_MAMPS,0.073632
$HUMID,2174
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,71.5,999.0
$24V_AH,23.6,47.712
$10V_AH,10.1,31.549
$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,30.450,25.000,233.475,111.000,0.000,61.520,35.233,189.895,0.250,0.000,3301.000,12.917,439.158,1408.876,438.965,428.112,466.999,33.337,697.788,0.000,405.226,0.000,2.488
$DEVICE_MAMPS,199.420,69.797,801.515,572.949,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,172.458,0.000,0.000,0.000,0.000,0.000,0.000,3301.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6425,244
$CFSIZE,260231168,246857728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,142737,4744.945,-12249.756,9,1.7,25,18.3