version: 66.02
glider: 117
mission: 4
dive: 348
start: 10 6 107 18 25 4
data:
$ID,117
$MISSION,4
$DIVE,348
$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,-25104.08
$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,26
$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
$GPS1,181423,4745.104,-12249.760,9,2.3,28,18.3
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.36
$_SM_ANGLEo,-53.3
$GPS2,182405,4745.206,-12249.682,12,3.3,31,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.108,-0.169
$KALMAN_X,37667.7,31.7,19.2,-33961.2,104.2
$KALMAN_Y,21468.5,13.5,125.3,-11579.6,199.9
$MHEAD_RNG_PITCHd_Wd,194.2,277,-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,-97.8,0.0,0.0,0,115,0.00,0.00,-84.25,0.000,2,0.000,0.000,415,2217,3163
$GC,118,-1.54,-97.8,2.2,-4.7,14,150,13.52,2.50,-11.57,0.000,4,0.198,0.070,2558,3590,3602
$GC,199,-1.54,-97.8,10.9,-9.1,26,205,0.00,2.42,0.00,0.000,6,0.000,0.035,2558,2189,3604
$GC,271,-1.54,-97.8,17.4,-8.5,37,278,0.00,2.60,0.00,0.000,4,0.000,0.066,2558,798,3605
$GC,311,-1.54,-97.8,20.9,-9.0,43,315,0.00,2.45,0.00,0.000,6,0.000,0.036,2558,2196,3605
$GC,506,-1.54,-97.8,38.3,-9.3,58,507,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2196,3605
$GC,698,-1.54,-97.8,55.6,-8.9,73,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2196,3605
$GC,887,-1.54,-97.8,72.8,-9.0,88,888,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2197,3605
$GC,1077,-1.54,-97.8,89.7,-9.1,103,1081,0.00,2.53,0.00,0.000,4,0.000,0.059,2557,3595,3605
$GC,1111,-1.54,-97.8,93.0,-9.6,105,1115,0.00,2.42,0.00,0.000,6,0.000,0.035,2558,2193,3605
$STATE,1140,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1140,begin apogee
$GC,1148,-0.38,0.0,96.0,9.3,107,1230,1.27,0.00,77.68,0.670,6,0.103,0.000,2810,2132,3201
$STATE,1230,end apogee,CONTROL_FINISHED_OK
$STATE,1231,begin climb
$GC,1233,1.54,97.8,98.6,0.0,114,1318,1.98,2.62,76.32,0.650,4,0.064,0.056,3235,3545,2802
$GC,1351,1.59,139.6,94.8,5.6,123,1389,0.00,2.42,32.25,0.650,6,0.000,0.035,3235,2163,2632
$GC,1578,1.59,139.6,76.0,8.9,141,1579,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,2163,2629
$GC,1769,1.59,139.6,59.4,8.5,156,1773,0.00,2.53,0.00,0.000,4,0.000,0.056,3235,3547,2629
$GC,1847,1.59,139.6,52.0,9.5,161,1854,0.00,2.45,0.00,0.000,6,0.000,0.036,3235,2142,2629
$GC,2043,1.59,139.6,35.4,8.5,177,2044,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,2142,2629
$GC,2235,1.59,139.6,18.9,9.1,192,2241,0.00,2.55,0.00,0.000,4,0.000,0.057,3236,3546,2628
$GC,2323,1.59,139.6,10.5,10.5,205,2329,0.00,2.42,0.00,0.000,6,0.000,0.036,3236,2151,2628
$STATE,2386,end climb,SURFACE_DEPTH_REACHED
$STATE,2386,begin surface coast
$FINISH,-0.1,1.022638
$STATE,2466,end surface coast,CONTROL_FINISHED_OK
$STATE,2466,begin surface
$SM_CCo,2496,140.45,0.581,0,0,1366,450.13
$SM_GC,0.36,0.00,0.00,140.45,0.000,0.000,0.581,407,2205,1366,-11.46,0.11,450.13
$IRIDIUM_FIX,4729.30,-12252.58,061007,212157
$TT8_MAMPS,0.072098
$HUMID,2163
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.5,999.0
$24V_AH,23.6,48.141
$10V_AH,10.0,31.909
$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,29.700,30.025,186.250,140.450,0.000,61.654,35.957,251.888,0.250,0.000,3336.000,32.756,424.828,1428.365,428.199,425.537,530.958,33.345,677.669,0.000,381.334,0.000,2.488
$DEVICE_MAMPS,197.886,108.914,669.591,581.386,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,160.820,0.000,0.000,0.000,0.000,0.000,0.000,3336.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6458,227
$CFSIZE,260231168,246702080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,190951,4745.077,-12249.804,13,1.8,13,18.3