version: 66.02
glider: 117
mission: 4
dive: 374
start: 10 7 107 19 32 59
data:
$ID,117
$MISSION,4
$DIVE,374
$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,500
$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,-25820.906
$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,33
$R_STBD_OVSHOOT,40
$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
$GPS1,192021,4745.095,-12249.680,13,1.8,13,18.3
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-53.8
$GPS2,193159,4745.120,-12249.720,15,2.4,34,18.3
$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,38108.5,-238.9,-76.6,-34078.3,-28.3
$KALMAN_Y,29496.9,40.6,102.8,-19767.1,38.2
$MHEAD_RNG_PITCHd_Wd,204.1,135,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-1.79,-68.1,0.0,0.0,0,153,0.00,0.00,-122.43,0.000,2,0.000,0.000,408,2189,3245
$GC,157,-1.83,-97.8,2.1,-5.3,20,188,13.23,2.65,-8.90,0.000,4,0.199,0.077,2494,807,3603
$GC,274,-1.83,-97.8,19.7,-15.3,38,280,0.00,2.42,0.00,0.000,6,0.000,0.037,2494,2191,3605
$GC,344,-1.83,-97.8,28.5,-12.6,44,348,0.00,2.55,0.00,0.000,4,0.000,0.058,2494,3597,3604
$GC,500,-1.83,-97.8,47.5,-12.3,55,507,0.00,2.42,0.00,0.000,6,0.000,0.035,2494,2200,3605
$GC,697,-1.83,-97.8,69.2,-11.3,71,698,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2200,3605
$GC,889,-1.83,-97.8,89.7,-10.8,86,893,0.00,2.55,0.00,0.000,4,0.000,0.057,2494,3605,3605
$STATE,932,end dive,TARGET_DEPTH_EXCEEDED
$STATE,932,begin apogee
$GC,942,-0.38,0.0,95.4,11.4,89,1021,1.60,0.00,74.65,0.671,6,0.113,0.000,2811,2152,3202
$STATE,1022,end apogee,CONTROL_FINISHED_OK
$STATE,1022,begin climb
$GC,1025,1.83,97.8,98.7,0.0,96,1110,2.28,2.60,76.28,0.651,4,0.061,0.056,3300,3546,2803
$GC,1137,1.85,113.5,94.7,6.7,105,1155,0.00,2.45,12.45,0.673,6,0.000,0.035,3300,2147,2740
$GC,1344,1.85,113.5,76.0,9.6,121,1346,0.00,0.00,0.00,0.000,6,0.000,0.000,3300,2147,2739
$GC,1536,1.85,113.5,58.8,8.7,136,1541,0.00,2.55,0.00,0.000,4,0.000,0.056,3300,3547,2739
$GC,1728,1.85,113.5,40.2,9.4,150,1732,0.00,2.42,0.00,0.000,6,0.000,0.036,3300,2147,2741
$GC,1931,1.89,143.6,24.8,5.6,166,1959,0.00,2.58,22.90,0.643,4,0.000,0.056,3300,3547,2616
$GC,2100,1.91,161.4,12.8,6.5,186,2119,0.00,2.42,13.73,0.650,6,0.000,0.035,3300,2149,2543
$GC,2188,1.91,161.4,6.2,8.7,199,2194,0.00,2.62,0.00,0.000,4,0.000,0.067,3300,754,2543
$STATE,2198,end climb,SURFACE_DEPTH_REACHED
$STATE,2198,begin surface coast
$FINISH,-0.4,1.022893
$STATE,2262,end surface coast,CONTROL_FINISHED_OK
$STATE,2262,begin surface
$SM_CCo,2293,152.62,0.574,0,0,1162,500.17
$SM_GC,0.23,0.00,0.00,152.62,0.000,0.000,0.574,409,2202,1162,-11.46,0.06,500.17
$IRIDIUM_FIX,4726.11,-12248.15,071007,222214
$TT8_MAMPS,0.071331
$HUMID,2142
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.5,999.0
$24V_AH,23.6,50.470
$10V_AH,10.0,33.833
$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,30.075,35.375,200.000,152.625,0.000,64.538,41.504,343.727,0.250,0.000,3328.000,35.725,390.062,1213.359,473.287,443.196,643.006,33.352,737.308,0.000,393.565,0.000,2.490
$DEVICE_MAMPS,199.420,76.700,672.659,573.716,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,148.747,0.000,0.000,0.000,0.000,0.000,0.000,3328.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6449,210
$CFSIZE,260231168,245866496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,071007,201502,4744.995,-12249.949,40,1.7,40,18.3