version: 66.02
glider: 117
mission: 4
dive: 345
start: 10 6 107 15 38 43
data:
$ID,117
$MISSION,4
$DIVE,345
$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,-25022.201
$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,37
$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
$GPS1,152511,4745.219,-12249.896,10,2.1,29,18.3
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.45
$_SM_ANGLEo,-56.2
$GPS2,153746,4745.299,-12249.847,11,2.6,30,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,FIVE_B
$TGT_LATLONG,4745.166,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.024,-0.168
$KALMAN_X,37310.5,-38.8,-0.3,-33716.7,-5.7
$KALMAN_Y,20744.1,-137.4,46.1,-10451.2,75.7
$MHEAD_RNG_PITCHd_Wd,153.7,249,-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,-78.22,0.000,2,0.000,0.000,409,2217,3037
$GC,114,-1.83,-97.8,2.1,-5.1,13,152,13.20,2.53,-15.95,0.000,4,0.199,0.070,2493,3598,3604
$GC,265,-1.83,-97.8,19.8,-11.1,36,271,0.00,2.42,0.00,0.000,6,0.000,0.035,2493,2195,3605
$GC,334,-1.83,-97.8,27.6,-11.4,42,338,0.00,2.53,0.00,0.000,4,0.000,0.055,2493,3591,3606
$GC,367,-1.83,-97.8,31.3,-11.5,44,371,0.00,2.40,0.00,0.000,6,0.000,0.035,2493,2200,3606
$GC,563,-1.83,-97.8,53.3,-11.4,59,564,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2200,3606
$GC,754,-1.83,-97.8,74.7,-11.3,74,758,0.00,2.53,0.00,0.000,4,0.000,0.056,2493,3595,3606
$GC,779,-1.83,-97.8,77.9,-11.5,75,786,0.00,2.42,0.00,0.000,6,0.000,0.035,2494,2206,3606
$STATE,935,end dive,TARGET_DEPTH_EXCEEDED
$STATE,935,begin apogee
$GC,945,-0.38,0.0,95.5,10.9,88,1027,1.60,0.00,77.53,0.680,6,0.110,0.000,2810,2133,3203
$STATE,1028,end apogee,CONTROL_FINISHED_OK
$STATE,1028,begin climb
$GC,1031,1.83,97.8,98.7,0.0,95,1113,2.28,0.00,76.22,0.663,6,0.061,0.000,3307,2133,2803
$GC,1300,1.83,97.8,81.6,8.5,117,1304,0.00,2.58,0.00,0.000,4,0.000,0.056,3307,3550,2801
$GC,1372,1.83,97.8,75.1,9.1,122,1377,0.00,2.42,0.00,0.000,6,0.000,0.035,3307,2160,2800
$GC,1568,1.83,97.8,58.8,8.1,137,1572,0.00,2.50,0.00,0.000,4,0.000,0.055,3309,3541,2800
$GC,1627,1.83,97.8,53.9,8.1,141,1633,0.00,2.42,0.00,0.000,6,0.000,0.036,3307,2146,2800
$GC,1823,1.83,98.1,38.4,7.9,157,1827,0.00,2.55,0.00,0.000,4,0.000,0.057,3307,3548,2800
$GC,1888,1.83,98.1,32.9,8.3,161,1895,0.00,2.45,0.00,0.000,6,0.000,0.035,3307,2142,2800
$GC,2086,1.83,99.5,17.7,7.8,179,2092,0.00,2.55,0.00,0.000,4,0.000,0.057,3307,3546,2800
$GC,2343,1.97,210.8,9.0,-0.7,218,2437,0.00,2.42,85.90,0.625,6,0.000,0.035,3306,2144,2342
$STATE,2454,end climb,SURFACE_DEPTH_REACHED
$STATE,2454,begin surface coast
$FINISH,-0.3,1.022873
$STATE,2568,end surface coast,CONTROL_FINISHED_OK
$STATE,2568,begin surface
$SM_CCo,2598,107.97,0.581,0,0,1366,450.13
$SM_GC,0.48,0.00,0.00,107.97,0.000,0.000,0.581,409,2213,1366,-11.45,0.37,450.13
$IRIDIUM_FIX,4726.11,-12248.15,061007,191954
$TT8_MAMPS,0.075166
$HUMID,2165
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.4,999.0
$24V_AH,23.6,47.895
$10V_AH,10.1,31.700
$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,30.475,34.875,239.650,107.975,0.000,102.718,70.482,286.576,0.250,0.000,3602.000,31.824,445.636,1477.129,443.699,461.746,650.996,33.343,712.894,0.000,418.839,0.000,2.488
$DEVICE_MAMPS,199.420,82.069,680.329,581.386,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,178.647,0.000,0.000,0.000,0.000,0.000,0.000,3602.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6462,253
$CFSIZE,260231168,246796288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,162459,4745.189,-12249.723,12,2.3,31,18.3