version: 66.02
glider: 117
mission: 4
dive: 370
start: 10 7 107 15 37 31
data:
$ID,117
$MISSION,4
$DIVE,370
$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,-25701.799
$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,33
$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
$GPS1,152005,4745.112,-12249.702,10,3.0,29,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.08
$_SM_ANGLEo,-51.1
$GPS2,153632,4745.182,-12249.780,12,1.3,17,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.013,-0.169
$KALMAN_X,38473.4,-217.5,-0.1,-34616.7,-61.7
$KALMAN_Y,28674.0,155.5,119.6,-18962.4,27.9
$MHEAD_RNG_PITCHd_Wd,157.1,183,-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,-68.1,0.0,0.0,0,155,0.00,0.00,-122.60,0.000,2,0.000,0.000,410,2189,3243
$GC,159,-1.83,-97.8,2.1,-5.2,20,184,13.20,0.00,-9.32,0.000,6,0.199,0.000,2491,2190,3603
$GC,253,-1.83,-97.8,14.4,-13.2,34,259,0.00,2.60,0.00,0.000,4,0.000,0.066,2492,801,3605
$GC,311,-1.83,-97.8,22.4,-12.5,42,318,0.00,2.45,0.00,0.000,6,0.000,0.036,2492,2199,3605
$GC,508,-1.83,-97.8,45.2,-11.0,58,512,0.00,2.53,0.00,0.000,4,0.000,0.059,2492,3595,3605
$GC,581,-1.83,-97.8,53.5,-11.6,63,585,0.00,2.40,0.00,0.000,6,0.000,0.035,2492,2197,3605
$GC,776,-1.83,-97.8,74.9,-10.9,78,778,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2197,3605
$STATE,965,end dive,TARGET_DEPTH_EXCEEDED
$STATE,966,begin apogee
$GC,973,-0.38,0.0,95.0,10.5,93,1052,1.62,0.00,73.97,0.665,6,0.111,0.000,2814,2136,3202
$STATE,1053,end apogee,CONTROL_FINISHED_OK
$STATE,1053,begin climb
$GC,1056,1.83,97.8,97.7,0.0,100,1142,2.22,2.67,77.43,0.648,4,0.061,0.064,3300,764,2803
$GC,1196,1.83,97.8,90.5,8.7,111,1200,0.00,2.45,0.00,0.000,6,0.000,0.035,3300,2156,2805
$GC,1391,1.83,97.8,73.5,8.5,126,1396,0.00,2.53,0.00,0.000,4,0.000,0.061,3300,3544,2806
$GC,1530,1.83,97.8,60.6,9.5,136,1534,0.00,2.40,0.00,0.000,6,0.000,0.036,3300,2157,2806
$GC,1732,1.83,97.8,44.1,8.4,152,1737,0.00,2.53,0.00,0.000,4,0.000,0.057,3300,3548,2806
$GC,1805,1.83,97.8,37.7,9.0,157,1809,0.00,2.42,0.00,0.000,6,0.000,0.036,3300,2144,2806
$GC,2001,1.87,130.3,24.6,5.4,172,2031,0.00,2.60,25.12,0.639,4,0.000,0.055,3300,3547,2670
$GC,2219,1.89,143.0,8.9,6.9,198,2237,0.00,2.42,9.20,0.667,6,0.000,0.035,3300,2147,2619
$STATE,2274,end climb,SURFACE_DEPTH_REACHED
$STATE,2274,begin surface coast
$FINISH,-0.4,1.022806
$STATE,2361,end surface coast,CONTROL_FINISHED_OK
$STATE,2361,begin surface
$SM_CCo,2392,224.57,0.570,0,0,746,602.46
$SM_GC,0.22,0.00,0.00,224.57,0.000,0.000,0.570,410,2213,746,-11.45,0.37,602.46
$IRIDIUM_FIX,4729.30,-12252.58,071007,191946
$TT8_MAMPS,0.075933
$HUMID,2147
$INTERNAL_PRESSURE,7.90069
$TCM_TEMP,20.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,70.8,999.0
$24V_AH,23.6,50.070
$10V_AH,10.0,33.531
$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,30.075,30.125,185.725,224.575,0.000,178.965,421.568,0.000,0.750,0.000,3735.000,17.524,408.018,1479.572,525.901,426.547,783.053,33.351,792.192,0.000,402.123,0.000,2.491
$DEVICE_MAMPS,199.420,108.147,666.523,569.881,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,155.803,0.000,0.000,0.000,0.000,0.000,0.000,3735.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6444,220
$CFSIZE,260231168,245985280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,162214,4745.036,-12249.800,12,1.4,29,18.3