version: 66.02
glider: 117
mission: 4
dive: 347
start: 10 6 107 17 28 10
data:
$ID,117
$MISSION,4
$DIVE,347
$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,-25070.695
$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,27
$R_STBD_OVSHOOT,35
$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
$GPS1,171809,4745.168,-12249.811,11,1.8,11,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.41
$_SM_ANGLEo,-54.0
$GPS2,172709,4745.259,-12249.771,13,1.6,13,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.050,-0.195
$KALMAN_X,37509.0,-3.8,0.9,-33858.8,71.7
$KALMAN_Y,21216.3,-52.2,97.9,-11134.6,175.6
$MHEAD_RNG_PITCHd_Wd,176.2,326,-18.4,-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,-1.54,-97.8,0.0,0.0,0,109,0.00,0.00,-78.32,0.000,2,0.000,0.000,408,2203,3016
$GC,112,-1.54,-97.8,2.0,-5.2,13,150,13.55,2.65,-16.48,0.000,4,0.198,0.075,2560,799,3601
$GC,163,-1.54,-97.8,7.1,-8.4,21,169,0.00,2.47,0.00,0.000,6,0.000,0.036,2560,2201,3604
$GC,236,-1.54,-97.8,13.8,-9.1,32,241,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2201,3604
$GC,308,-1.54,-97.8,19.7,-8.4,43,313,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2202,3604
$GC,378,-1.54,-97.8,25.7,-8.7,49,379,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2201,3603
$GC,569,-1.54,-97.8,42.5,-8.9,64,570,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2202,3604
$GC,760,-1.54,-97.8,59.1,-8.9,79,761,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2201,3604
$GC,947,-1.54,-97.8,76.1,-8.9,94,948,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2202,3604
$GC,1136,-1.54,-97.8,93.2,-8.9,109,1137,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2201,3604
$STATE,1156,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1157,begin apogee
$GC,1164,-0.38,0.0,95.4,8.9,111,1245,1.27,0.00,77.40,0.667,6,0.100,0.000,2811,2126,3202
$STATE,1246,end apogee,CONTROL_FINISHED_OK
$STATE,1246,begin climb
$GC,1249,1.54,97.8,98.2,0.0,118,1334,1.98,2.65,76.65,0.648,4,0.061,0.058,3238,3551,2802
$GC,1363,1.59,142.2,94.9,5.5,127,1403,0.00,2.42,34.20,0.647,6,0.000,0.036,3238,2165,2621
$GC,1602,1.59,142.2,75.1,8.8,146,1603,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,2166,2619
$GC,1793,1.59,142.2,58.2,8.9,161,1798,0.00,2.50,0.00,0.000,4,0.000,0.057,3238,3546,2619
$GC,1845,1.59,142.2,52.9,9.7,164,1852,0.00,2.45,0.00,0.000,6,0.000,0.036,3238,2140,2619
$GC,2041,1.59,142.2,35.7,8.8,180,2043,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,2140,2620
$GC,2233,1.59,142.2,19.3,8.9,195,2239,0.00,2.55,0.00,0.000,4,0.000,0.057,3238,3545,2619
$GC,2331,1.59,142.2,9.9,10.2,210,2337,0.00,2.42,0.00,0.000,6,0.000,0.036,3238,2149,2619
$GC,2404,1.66,197.6,5.3,4.9,221,2417,0.10,0.00,10.98,0.664,2,0.061,0.000,3264,2149,2561
$STATE,2418,end climb,SURFACE_DEPTH_REACHED
$STATE,2418,begin surface coast
$FINISH,-0.2,1.022739
$STATE,2542,end surface coast,CONTROL_FINISHED_OK
$STATE,2542,begin surface
$SM_CCo,2572,134.48,0.581,0,0,1367,450.13
$SM_GC,0.44,0.00,0.00,134.48,0.000,0.000,0.581,413,2217,1367,-11.44,0.48,450.13
$IRIDIUM_FIX,4726.11,-12250.84,061007,202050
$TT8_MAMPS,0.075166
$HUMID,2168
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.5,999.0
$24V_AH,23.7,48.057
$10V_AH,10.1,31.838
$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,29.875,20.275,199.225,134.475,0.000,61.390,35.504,229.902,0.250,0.000,3369.000,13.547,443.567,1465.437,437.431,410.404,511.404,33.343,684.891,0.000,384.323,0.000,2.490
$DEVICE_MAMPS,197.886,75.166,667.290,581.386,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,171.180,0.000,0.000,0.000,0.000,0.000,0.000,3369.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6426,242
$CFSIZE,260231168,246734848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,181423,4745.104,-12249.760,9,2.3,28,18.3