version: 66.02
glider: 117
mission: 4
dive: 377
start: 10 7 107 22 34 26
data:
$ID,117
$MISSION,4
$DIVE,377
$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,-25899.68
$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,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
$GPS1,221835,4745.021,-12249.926,10,2.8,29,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.21
$_SM_ANGLEo,-58.6
$GPS2,223329,4745.048,-12249.898,14,3.3,33,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.149,0.082
$KALMAN_X,38001.8,-180.1,-59.0,-34273.9,46.5
$KALMAN_Y,29892.9,46.5,32.2,-20232.4,38.1
$MHEAD_RNG_PITCHd_Wd,42.7,125,-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,-68.1,0.0,0.0,0,130,0.00,0.00,-95.97,0.000,2,0.000,0.000,408,2193,3155
$GC,136,-1.83,-97.8,2.1,-5.4,16,167,13.20,2.58,-11.35,0.000,4,0.199,0.068,2493,3606,3603
$GC,417,-1.83,-97.8,39.2,-11.8,47,424,0.00,2.45,0.00,0.000,6,0.000,0.035,2492,2192,3604
$GC,615,-1.83,-97.8,60.6,-10.7,63,619,0.00,2.55,0.00,0.000,4,0.000,0.056,2492,3597,3604
$GC,648,-1.83,-97.8,64.5,-11.4,65,652,0.00,2.40,0.00,0.000,6,0.000,0.035,2493,2200,3604
$GC,851,-1.83,-97.8,87.1,-11.3,81,855,0.00,2.53,0.00,0.000,4,0.000,0.055,2492,3597,3605
$GC,889,-1.83,-97.8,91.7,-11.8,83,896,0.00,2.40,0.00,0.000,6,0.000,0.035,2492,2201,3604
$STATE,918,end dive,TARGET_DEPTH_EXCEEDED
$STATE,918,begin apogee
$GC,926,-0.38,0.0,95.2,11.0,86,1008,1.62,0.00,77.18,0.668,6,0.110,0.000,2811,2137,3202
$STATE,1009,end apogee,CONTROL_FINISHED_OK
$STATE,1009,begin climb
$GC,1013,1.83,97.8,98.1,0.0,93,1094,2.25,0.00,76.28,0.652,6,0.061,0.000,3301,2137,2803
$GC,1281,1.83,97.8,82.1,8.0,115,1285,0.00,2.58,0.00,0.000,4,0.000,0.056,3302,3551,2803
$GC,1341,1.83,97.8,77.0,8.2,119,1345,0.00,2.42,0.00,0.000,6,0.000,0.035,3302,2161,2801
$GC,1537,1.83,101.2,61.7,7.6,134,1544,0.00,2.60,2.15,0.779,4,0.000,0.055,3302,3553,2789
$GC,1645,1.83,101.2,52.6,8.8,141,1651,0.00,2.45,0.00,0.000,6,0.000,0.035,3301,2148,2789
$GC,1841,1.84,104.5,36.8,7.7,157,1852,0.00,2.70,2.58,0.759,4,0.000,0.066,3302,747,2775
$GC,1872,1.84,104.5,34.0,9.0,159,1878,0.00,2.47,0.00,0.000,6,0.000,0.035,3302,2151,2775
$GC,2069,1.85,110.6,18.8,7.4,176,2081,0.00,2.58,4.22,0.723,4,0.000,0.057,3302,3544,2751
$GC,2319,1.92,169.8,8.1,3.3,214,2374,0.00,2.42,45.67,0.627,6,0.000,0.035,3302,2146,2508
$STATE,2387,end climb,SURFACE_DEPTH_REACHED
$STATE,2387,begin surface coast
$FINISH,-0.5,1.022940
$STATE,2478,end surface coast,CONTROL_FINISHED_OK
$STATE,2478,begin surface
$SM_CCo,2509,211.00,0.570,0,0,746,602.46
$SM_GC,0.13,0.00,0.00,211.00,0.000,0.000,0.570,403,2214,746,-11.49,0.40,602.46
$IRIDIUM_FIX,4729.30,-12252.58,081007,020231
$TT8_MAMPS,0.075166
$HUMID,2126
$INTERNAL_PRESSURE,7.90069
$TCM_TEMP,20.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.1,999.0
$24V_AH,23.6,50.776
$10V_AH,10.0,34.073
$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,30.000,35.250,208.075,211.000,0.000,179.250,300.675,0.000,0.250,0.000,3691.000,34.696,434.494,1524.446,538.599,460.143,673.078,33.340,806.715,0.000,419.289,0.000,2.489
$DEVICE_MAMPS,199.420,108.914,778.505,569.881,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,169.094,0.000,0.000,0.000,0.000,0.000,0.000,3691.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6427,239
$CFSIZE,260231168,245739520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,232122,4745.117,-12249.657,38,2.6,57,18.3