version: 66.02
glider: 117
mission: 4
dive: 367
start: 10 7 107 12 41 35
data:
$ID,117
$MISSION,4
$DIVE,367
$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,602.45679
$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,-25632.852
$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,31
$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
$GPS1,122602,4745.041,-12249.771,13,2.0,31,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.28
$_SM_ANGLEo,-55.1
$GPS2,124038,4745.122,-12249.858,32,1.3,32,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.114,-0.125
$KALMAN_X,38757.8,-117.5,3.6,-35102.3,-56.9
$KALMAN_Y,28034.4,347.4,69.8,-18579.9,57.5
$MHEAD_RNG_PITCHd_Wd,119.3,85,-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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,31,-1.79,-68.1,0.0,0.0,0,124,0.00,0.00,-90.15,0.000,2,0.000,0.000,408,2183,3222
$GC,130,-1.83,-96.6,2.2,-5.7,15,161,13.10,2.60,-9.40,0.000,4,0.197,0.068,2492,3590,3600
$GC,188,-1.83,-96.6,10.8,-12.8,24,194,0.00,2.40,0.00,0.000,6,0.000,0.034,2492,2205,3601
$GC,261,-1.83,-96.6,20.1,-12.5,35,265,0.00,2.53,0.00,0.000,4,0.000,0.056,2492,3596,3601
$GC,366,-1.83,-96.6,33.6,-12.4,42,372,0.00,2.42,0.00,0.000,6,0.000,0.035,2492,2196,3601
$GC,562,-1.83,-96.6,55.4,-10.7,58,563,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2196,3601
$GC,755,-1.83,-96.6,76.0,-11.1,73,756,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2195,3601
$STATE,925,end dive,TARGET_DEPTH_EXCEEDED
$STATE,925,begin apogee
$GC,935,-0.38,0.0,95.0,10.7,87,1017,1.62,0.00,77.43,0.669,6,0.112,0.000,2814,2135,3202
$STATE,1018,end apogee,CONTROL_FINISHED_OK
$STATE,1018,begin climb
$GC,1021,1.83,96.6,98.1,0.0,94,1107,2.25,2.62,75.97,0.649,4,0.062,0.064,3306,766,2807
$GC,1123,1.85,117.1,94.5,6.3,102,1148,0.00,2.47,15.90,0.666,6,0.000,0.035,3306,2153,2723
$GC,1337,1.85,117.1,73.7,9.7,119,1342,0.00,2.55,0.00,0.000,4,0.000,0.060,3307,3547,2721
$GC,1423,1.85,117.1,64.4,10.8,125,1428,0.00,2.42,0.00,0.000,6,0.000,0.036,3306,2156,2720
$GC,1619,1.85,117.1,45.2,9.9,140,1620,0.00,0.00,0.00,0.000,6,0.000,0.000,3306,2156,2720
$GC,1811,1.85,117.4,27.8,7.9,155,1815,0.00,2.53,0.00,0.000,4,0.000,0.056,3305,3547,2720
$GC,2069,1.85,117.4,8.5,9.1,185,2075,0.00,2.42,0.00,0.000,6,0.000,0.035,3306,2146,2720
$STATE,2112,end climb,SURFACE_DEPTH_REACHED
$STATE,2112,begin surface coast
$FINISH,-0.2,1.022774
$STATE,2185,end surface coast,CONTROL_FINISHED_OK
$STATE,2185,begin surface
$SM_CCo,2216,236.05,0.571,0,0,745,602.46
$SM_GC,0.11,0.00,0.00,236.05,0.000,0.000,0.571,406,2216,745,-11.47,0.45,602.46
$IRIDIUM_FIX,4729.30,-12248.15,071007,161642
$TT8_MAMPS,0.071331
$HUMID,2137
$INTERNAL_PRESSURE,7.89093
$TCM_TEMP,20.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.4,999.0
$24V_AH,23.7,49.786
$10V_AH,10.1,33.301
$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,30.100,25.100,169.300,236.050,0.000,178.925,300.673,0.000,0.500,0.000,3360.000,32.324,384.408,1402.772,507.710,399.387,651.408,33.341,743.131,0.000,363.237,0.000,2.489
$DEVICE_MAMPS,197.119,109.681,668.824,570.648,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,143.800,0.000,0.000,0.000,0.000,0.000,0.000,3360.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6448,203
$CFSIZE,260231168,246095872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,132335,4745.017,-12249.671,10,2.7,29,18.3