version: 66.02
glider: 117
mission: 4
dive: 346
start: 10 6 107 16 35 8
data:
$ID,117
$MISSION,4
$DIVE,346
$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,-25056.52
$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,32
$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
$GPS1,162459,4745.189,-12249.723,12,2.3,31,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.42
$_SM_ANGLEo,-54.2
$GPS2,163411,4745.273,-12249.665,13,2.5,32,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,FIVE_B
$TGT_LATLONG,4745.166,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.095,-0.141
$KALMAN_X,37429.2,-16.2,3.7,-33639.0,30.9
$KALMAN_Y,20987.1,-95.2,79.8,-10820.6,124.9
$MHEAD_RNG_PITCHd_Wd,195.7,273,-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,-78.20,0.000,2,0.000,0.000,410,2213,3041
$GC,114,-1.83,-97.8,2.1,-4.8,13,151,13.15,2.67,-15.12,0.000,4,0.198,0.073,2494,808,3605
$GC,165,-1.83,-97.8,8.4,-11.9,21,171,0.00,2.45,0.00,0.000,6,0.000,0.036,2494,2199,3605
$GC,237,-1.83,-97.8,16.5,-11.6,32,243,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2199,3606
$GC,308,-1.83,-97.8,23.9,-10.3,40,309,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2199,3606
$GC,500,-1.83,-97.8,44.7,-11.5,55,501,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2199,3607
$GC,689,-1.83,-97.8,65.8,-11.3,70,690,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2199,3607
$GC,878,-1.83,-97.8,86.5,-11.1,85,883,0.00,2.53,0.00,0.000,4,0.000,0.059,2494,3595,3606
$GC,930,-1.83,-97.8,93.1,-12.0,88,937,0.00,2.42,0.00,0.000,6,0.000,0.035,2493,2210,3606
$STATE,947,end dive,TARGET_DEPTH_EXCEEDED
$STATE,947,begin apogee
$GC,955,-0.38,0.0,95.2,11.3,90,1038,1.62,0.00,78.03,0.666,6,0.109,0.000,2810,2135,3201
$STATE,1039,end apogee,CONTROL_FINISHED_OK
$STATE,1039,begin climb
$GC,1042,1.83,97.8,98.2,0.0,97,1127,2.28,2.62,76.53,0.644,4,0.061,0.054,3307,3551,2802
$GC,1167,1.83,100.4,93.2,7.7,107,1178,0.00,2.45,1.75,0.775,6,0.000,0.035,3307,2156,2793
$GC,1368,1.83,100.4,76.0,9.0,123,1372,0.00,2.53,0.00,0.000,4,0.000,0.056,3307,3546,2791
$GC,1440,1.83,100.4,69.4,9.1,128,1444,0.00,2.45,0.00,0.000,6,0.000,0.036,3306,2143,2791
$GC,1636,1.83,100.4,52.7,8.2,143,1640,0.00,2.55,0.00,0.000,4,0.000,0.056,3307,3546,2790
$GC,1695,1.83,100.4,47.6,8.8,147,1700,0.00,2.42,0.00,0.000,6,0.000,0.036,3307,2149,2790
$GC,1891,1.83,100.4,31.6,8.0,162,1895,0.00,2.55,0.00,0.000,4,0.000,0.057,3307,3553,2790
$GC,1956,1.83,100.4,25.8,8.8,166,1963,0.00,2.45,0.00,0.000,6,0.000,0.035,3307,2142,2790
$GC,2158,1.86,125.0,10.2,6.0,191,2183,0.00,2.65,18.42,0.650,4,0.000,0.066,3307,753,2691
$STATE,2247,end climb,SURFACE_DEPTH_REACHED
$STATE,2247,begin surface coast
$FINISH,-0.2,1.022641
$STATE,2354,end surface coast,CONTROL_FINISHED_OK
$STATE,2354,begin surface
$SM_CCo,2384,148.62,0.579,0,0,1367,450.13
$SM_GC,0.57,0.00,0.00,148.62,0.000,0.000,0.579,408,2203,1367,-11.46,0.08,450.13
$IRIDIUM_FIX,4729.30,-12248.15,061007,191936
$TT8_MAMPS,0.072865
$HUMID,2171
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,20.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.0,999.0
$24V_AH,23.7,47.975
$10V_AH,10.1,31.768
$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,30.175,35.400,174.725,148.625,0.000,62.125,37.105,217.324,0.500,0.000,3170.000,33.690,417.024,1322.499,436.806,430.792,493.746,33.337,686.945,0.000,383.864,0.000,2.488
$DEVICE_MAMPS,197.886,84.370,775.437,579.085,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,156.266,0.000,0.000,0.000,0.000,0.000,0.000,3170.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6468,221
$CFSIZE,260231168,246767616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,171809,4745.168,-12249.811,11,1.8,11,18.3