version: 66.02
glider: 117
mission: 4
dive: 380
start: 10 8 107 1 47 58
data:
$ID,117
$MISSION,4
$DIVE,380
$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,-25964.936
$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,28
$R_STBD_OVSHOOT,41
$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
$GPS1,013037,4745.135,-12249.791,33,1.2,43,18.3
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,1
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-56.4
$GPS2,014657,4745.080,-12249.893,15,2.0,15,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.139,0.097
$KALMAN_X,37650.9,-112.9,1.0,-34038.2,-29.6
$KALMAN_Y,29690.2,22.3,-57.4,-19854.7,-76.1
$MHEAD_RNG_PITCHd_Wd,36.8,97,-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,-122.40,0.000,2,0.000,0.000,408,2214,3268
$GC,157,-1.83,-97.8,2.2,-5.0,20,188,13.25,2.72,-7.93,0.000,4,0.200,0.075,2494,802,3604
$GC,261,-1.83,-97.8,18.7,-14.5,36,268,0.00,2.45,0.00,0.000,6,0.000,0.036,2494,2193,3605
$GC,338,-1.83,-97.8,27.7,-11.9,43,339,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2193,3606
$GC,531,-1.83,-97.8,48.9,-11.2,58,535,0.00,2.60,0.00,0.000,4,0.000,0.064,2494,802,3606
$GC,571,-1.83,-97.8,54.0,-11.7,60,577,0.00,2.45,0.00,0.000,6,0.000,0.036,2494,2199,3606
$GC,767,-1.83,-97.8,75.8,-11.0,76,771,0.00,2.53,0.00,0.000,4,0.000,0.060,2494,3595,3606
$GC,827,-1.83,-97.8,82.8,-12.0,80,831,0.00,2.42,0.00,0.000,6,0.000,0.035,2494,2195,3606
$STATE,944,end dive,TARGET_DEPTH_EXCEEDED
$STATE,944,begin apogee
$GC,951,-0.38,0.0,96.5,11.2,89,1033,1.62,0.00,76.47,0.669,6,0.108,0.000,2811,2133,3203
$STATE,1033,end apogee,CONTROL_FINISHED_OK
$STATE,1034,begin climb
$GC,1037,1.83,97.8,99.5,0.0,96,1121,2.25,2.62,75.97,0.656,4,0.059,0.064,3302,766,2803
$GC,1193,1.83,97.8,92.4,8.2,108,1200,0.00,2.42,0.00,0.000,6,0.000,0.035,3301,2151,2803
$GC,1390,1.83,98.4,77.4,7.9,124,1394,0.00,2.55,0.00,0.000,4,0.000,0.060,3302,3548,2803
$GC,1525,1.83,98.4,66.6,8.4,133,1531,0.00,2.40,0.00,0.000,6,0.000,0.035,3302,2163,2803
$GC,1721,1.83,98.8,50.7,7.9,149,1725,0.00,2.53,0.00,0.000,4,0.000,0.056,3302,3553,2802
$GC,1786,1.83,98.8,45.1,8.4,153,1793,0.00,2.45,0.00,0.000,6,0.000,0.035,3302,2144,2802
$GC,1983,1.83,98.8,30.3,8.2,169,1987,0.00,2.60,0.00,0.000,4,0.000,0.066,3302,751,2802
$GC,2174,1.87,127.6,17.8,5.7,185,2205,0.00,2.45,22.55,0.646,6,0.000,0.035,3302,2151,2681
$GC,2272,1.89,150.2,12.6,6.2,200,2297,0.00,2.60,16.90,0.647,4,0.000,0.060,3302,3544,2589
$GC,2383,1.90,155.3,5.3,7.5,217,2390,0.00,2.42,2.78,0.727,2,0.000,0.035,3302,2148,2572
$STATE,2391,end climb,SURFACE_DEPTH_REACHED
$STATE,2391,begin surface coast
$FINISH,3.2,1.022846
$STATE,2409,end surface coast,CONTROL_FINISHED_OK
$STATE,2409,begin surface
$SM_CCo,2441,159.30,0.578,0,0,1162,500.17
$SM_GC,0.28,0.00,0.00,159.30,0.000,0.000,0.578,410,2216,1162,-11.45,0.45,500.17
$IRIDIUM_FIX,4726.11,-12248.15,081007,050530
$TT8_MAMPS,0.072098
$HUMID,2152
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,20.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,70.2,999.0
$24V_AH,23.6,51.105
$10V_AH,10.0,34.325
$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,31.000,40.350,194.675,159.300,0.000,136.621,203.379,298.945,0.750,0.000,3769.000,15.902,413.834,1421.814,488.547,440.397,837.277,33.339,765.234,0.000,411.765,0.000,4.810
$DEVICE_MAMPS,200.187,109.681,727.116,577.551,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,156.578,0.000,0.000,0.000,0.000,0.000,0.000,3769.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6447,221
$CFSIZE,260231168,245653504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,081007,023209,4745.180,-12249.664,12,1.7,12,18.3