version: 66.02
glider: 117
mission: 4
dive: 454
start: 10 10 107 14 52 38
data:
$ID,117
$MISSION,4
$DIVE,454
$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,60
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$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,-28050.535
$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,39
$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
$GPS1,143755,4745.102,-12249.850,23,1.5,41,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.14
$_SM_ANGLEo,-55.8
$GPS2,145139,4745.175,-12249.932,12,1.8,12,18.3
$SPEED_LIMITS,0.137,0.241
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.092,-0.101
$KALMAN_X,35343.4,200.8,-6.6,-32086.2,-57.6
$KALMAN_Y,30878.5,635.2,182.9,-21725.0,57.5
$MHEAD_RNG_PITCHd_Wd,119.4,219,-27.6,-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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,32,-2.18,-44.5,0.0,0.0,0,163,0.00,0.00,-127.93,0.000,2,0.000,0.000,408,2190,3355
$GC,167,-2.20,-60.7,2.6,-6.0,21,192,12.85,2.60,-2.12,0.000,4,0.202,0.066,2414,3590,3453
$GC,277,-2.20,-60.7,21.4,-14.5,37,283,0.00,2.40,0.00,0.000,6,0.000,0.035,2414,2204,3454
$GC,474,-2.20,-60.7,45.6,-12.6,53,478,0.00,2.53,0.00,0.000,4,0.000,0.055,2414,3597,3454
$GC,507,-2.20,-60.7,50.0,-13.5,55,511,0.00,2.40,0.00,0.000,6,0.000,0.034,2414,2201,3454
$GC,710,-2.20,-60.7,75.4,-12.5,71,711,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2201,3454
$STATE,870,end dive,TARGET_DEPTH_EXCEEDED
$STATE,871,begin apogee
$GC,879,-0.38,0.0,95.9,12.8,84,934,2.05,0.00,47.92,0.686,6,0.120,0.000,2811,2140,3202
$STATE,935,end apogee,CONTROL_FINISHED_OK
$STATE,935,begin climb
$GC,939,2.20,60.7,98.6,0.0,89,992,2.62,0.00,47.40,0.670,6,0.058,0.000,3382,2140,2954
$GC,1177,2.22,83.8,88.5,5.2,108,1202,0.00,2.65,17.17,0.689,4,0.000,0.063,3382,756,2860
$GC,1256,2.23,86.7,83.3,7.6,114,1263,0.00,2.47,2.08,0.788,6,0.000,0.035,3382,2148,2848
$GC,1452,2.23,86.7,67.7,8.1,129,1457,0.00,2.58,0.00,0.000,4,0.000,0.062,3382,3551,2848
$GC,1544,2.23,86.7,59.5,8.8,135,1551,0.00,2.42,0.00,0.000,6,0.000,0.035,3382,2157,2848
$GC,1741,2.23,86.7,43.7,8.3,151,1742,0.00,0.00,0.00,0.000,6,0.000,0.000,3382,2157,2848
$GC,1934,2.23,90.6,29.0,7.5,166,1945,0.00,2.60,2.58,0.772,4,0.000,0.058,3382,3554,2832
$GC,1986,2.23,90.6,24.3,8.4,170,1990,0.00,2.45,0.00,0.000,6,0.000,0.035,3382,2148,2832
$GC,2189,2.25,108.8,11.3,5.8,196,2207,0.00,0.00,13.90,0.681,6,0.000,0.000,3382,2148,2758
$GC,2277,2.28,133.5,6.6,5.0,209,2302,0.00,2.60,18.58,0.664,4,0.000,0.056,3382,3546,2657
$STATE,2313,end climb,SURFACE_DEPTH_REACHED
$STATE,2313,begin surface coast
$FINISH,-0.7,1.022847
$STATE,2462,end surface coast,CONTROL_FINISHED_OK
$STATE,2462,begin surface
$SM_CCo,2495,165.15,0.584,0,0,1163,500.17
$SM_GC,0.03,0.00,0.00,165.15,0.000,0.000,0.584,409,2185,1163,-11.45,-0.42,500.17
$IRIDIUM_FIX,4729.30,-12248.15,101007,181855
$TT8_MAMPS,0.079001
$HUMID,2161
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,20.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,70.7,999.0
$24V_AH,23.5,58.643
$10V_AH,10.0,39.239
$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,31.475,30.125,149.625,165.150,0.000,101.117,67.722,362.915,0.750,0.000,3689.000,12.288,434.160,1440.064,450.445,424.486,752.902,33.343,712.064,0.000,400.609,0.000,2.490
$DEVICE_MAMPS,202.488,108.147,787.709,583.687,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,167.824,0.000,0.000,0.000,0.000,0.000,0.000,3689.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6456,237
$CFSIZE,260231168,243638272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,101007,153807,4745.077,-12249.800,14,1.6,30,18.3