version: 66.02
glider: 117
mission: 4
dive: 376
start: 10 7 107 21 34 29
data:
$ID,117
$MISSION,4
$DIVE,376
$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,-25864.355
$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,29
$R_STBD_OVSHOOT,32
$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
$GPS1,211409,4745.110,-12249.682,11,1.4,11,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-52.7
$GPS2,213329,4745.139,-12249.687,11,3.6,30,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.135,-0.103
$KALMAN_X,37994.2,-208.0,-75.6,-33955.5,11.2
$KALMAN_Y,29800.3,40.4,58.8,-19992.4,33.3
$MHEAD_RNG_PITCHd_Wd,214.6,188,-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,-68.1,0.0,0.0,0,159,0.00,0.00,-127.53,0.000,2,0.000,0.000,413,2195,3376
$GC,162,-1.82,-93.9,2.6,-5.9,21,188,13.23,2.65,-4.68,0.000,4,0.200,0.080,2494,803,3588
$GC,247,-1.82,-93.9,17.5,-14.6,34,253,0.00,2.47,0.00,0.000,6,0.000,0.037,2494,2207,3590
$GC,317,-1.82,-93.9,26.6,-12.7,41,322,0.00,2.53,0.00,0.000,4,0.000,0.058,2494,3600,3590
$GC,445,-1.82,-93.9,42.2,-12.0,50,450,0.00,2.42,0.00,0.000,6,0.000,0.035,2494,2202,3590
$GC,641,-1.82,-93.9,63.9,-10.9,65,645,0.00,2.53,0.00,0.000,4,0.000,0.057,2494,3597,3590
$GC,701,-1.82,-93.9,70.6,-11.5,69,706,0.00,2.42,0.00,0.000,6,0.000,0.035,2494,2198,3590
$GC,899,-1.82,-93.9,92.4,-11.3,84,900,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2198,3590
$STATE,919,end dive,TARGET_DEPTH_EXCEEDED
$STATE,920,begin apogee
$GC,927,-0.38,0.0,95.2,11.0,86,1007,1.62,0.00,72.43,0.669,6,0.110,0.000,2810,2138,3202
$STATE,1007,end apogee,CONTROL_FINISHED_OK
$STATE,1008,begin climb
$GC,1011,1.82,93.9,98.0,0.0,93,1092,2.28,2.67,73.65,0.653,4,0.061,0.055,3299,3546,2820
$GC,1172,1.82,93.9,89.7,8.6,106,1176,0.00,2.42,0.00,0.000,6,0.000,0.035,3299,2160,2819
$GC,1368,1.83,94.7,74.0,7.9,121,1369,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,2160,2819
$GC,1561,1.83,99.0,59.6,7.6,136,1568,0.00,0.00,3.62,0.742,6,0.000,0.000,3299,2160,2798
$GC,1758,1.83,99.5,43.8,7.9,152,1762,0.00,2.53,0.00,0.000,4,0.000,0.056,3299,3547,2799
$GC,2009,1.85,116.9,24.9,6.6,170,2028,0.00,2.42,13.55,0.673,6,0.000,0.035,3299,2148,2725
$GC,2223,1.90,152.2,13.9,5.2,196,2260,0.00,2.62,26.83,0.637,4,0.000,0.055,3299,3546,2581
$STATE,2349,end climb,SURFACE_DEPTH_REACHED
$STATE,2349,begin surface coast
$FINISH,1.8,1.022847
$STATE,2383,end surface coast,CONTROL_FINISHED_OK
$STATE,2383,begin surface
$SM_CCo,2417,159.93,0.578,0,0,1162,500.17
$SM_GC,0.22,0.00,0.00,159.93,0.000,0.000,0.578,408,2194,1162,-11.46,-0.17,500.17
$IRIDIUM_FIX,4726.11,-12252.58,081007,010149
$TT8_MAMPS,0.075933
$HUMID,2142
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,20.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.6,999.0
$24V_AH,23.6,50.678
$10V_AH,10.0,33.994
$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,30.900,30.125,190.075,159.925,0.000,137.691,178.572,452.329,0.250,0.000,3892.000,31.253,409.394,1426.611,476.747,452.238,993.214,33.347,741.579,0.000,407.424,0.000,4.865
$DEVICE_MAMPS,200.187,108.147,741.689,578.318,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,156.543,0.000,0.000,0.000,0.000,0.000,0.000,3892.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6427,221
$CFSIZE,260231168,245792768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,071007,221835,4745.021,-12249.926,10,2.8,29,18.3