version: 66.02
glider: 117
mission: 4
dive: 456
start: 10 10 107 16 48 1
data:
$ID,117
$MISSION,4
$DIVE,456
$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,-28081.924
$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,31
$R_STBD_OVSHOOT,30
$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
$GPS1,163605,4745.059,-12249.823,12,2.8,31,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.11
$_SM_ANGLEo,-57.3
$GPS2,164702,4745.074,-12249.867,15,1.0,15,18.3
$SPEED_LIMITS,0.137,0.241
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.131,0.042
$KALMAN_X,35099.8,88.9,-58.9,-31597.4,-124.6
$KALMAN_Y,31149.6,540.4,145.1,-22047.5,-37.5
$MHEAD_RNG_PITCHd_Wd,53.9,68,-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,-127.62,0.000,2,0.000,0.000,409,2191,3374
$GC,167,-2.20,-64.6,2.5,-5.5,21,192,12.90,2.67,-2.00,0.000,4,0.204,0.079,2413,805,3468
$GC,235,-2.20,-64.6,16.7,-17.7,31,241,0.00,2.47,0.00,0.000,6,0.000,0.036,2413,2207,3470
$GC,312,-2.20,-64.6,27.3,-13.0,39,317,0.00,2.62,0.00,0.000,4,0.000,0.063,2413,805,3470
$GC,364,-2.20,-64.6,34.0,-12.6,42,371,0.00,2.47,0.00,0.000,6,0.000,0.036,2413,2208,3470
$GC,563,-2.20,-64.6,58.8,-12.8,58,564,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2208,3470
$GC,753,-2.20,-64.6,81.7,-12.1,73,757,0.00,2.53,0.00,0.000,4,0.000,0.059,2413,3603,3469
$GC,805,-2.20,-64.6,89.1,-12.8,76,812,0.00,2.42,0.00,0.000,6,0.000,0.035,2413,2206,3470
$STATE,859,end dive,TARGET_DEPTH_EXCEEDED
$STATE,859,begin apogee
$GC,868,-0.38,0.0,96.0,12.2,81,923,2.08,0.00,50.97,0.683,6,0.120,0.000,2813,2132,3203
$STATE,924,end apogee,CONTROL_FINISHED_OK
$STATE,924,begin climb
$GC,928,2.20,64.6,98.7,0.0,86,987,2.62,2.62,50.30,0.673,4,0.057,0.062,3383,762,2938
$GC,1031,2.23,89.5,95.0,5.0,94,1055,0.00,2.45,18.73,0.681,6,0.000,0.035,3383,2151,2837
$GC,1246,2.23,89.5,76.9,8.3,111,1250,0.00,2.58,0.00,0.000,4,0.000,0.062,3383,3553,2836
$GC,1338,2.23,89.5,68.5,9.2,117,1344,0.00,2.42,0.00,0.000,6,0.000,0.035,3383,2159,2836
$GC,1534,2.23,89.5,51.7,8.7,133,1538,0.00,2.55,0.00,0.000,4,0.000,0.058,3383,3556,2836
$GC,1639,2.23,89.5,42.3,8.6,140,1645,0.00,2.45,0.00,0.000,6,0.000,0.035,3383,2148,2836
$GC,1836,2.23,89.5,26.4,8.2,156,1840,0.00,2.55,0.00,0.000,4,0.000,0.057,3383,3549,2836
$GC,1869,2.23,89.5,23.7,8.7,158,1873,0.00,2.42,0.00,0.000,6,0.000,0.035,3383,2148,2836
$GC,2073,2.29,136.5,13.1,2.3,185,2116,0.00,2.60,35.47,0.641,4,0.000,0.057,3383,3547,2645
$STATE,2232,end climb,SURFACE_DEPTH_REACHED
$STATE,2232,begin surface coast
$FINISH,-0.7,1.022781
$STATE,2312,end surface coast,CONTROL_FINISHED_OK
$STATE,2312,begin surface
$SM_CCo,2348,164.30,0.578,0,0,1163,500.17
$SM_GC,0.02,0.00,0.00,164.30,0.000,0.000,0.578,412,2186,1163,-11.44,-0.40,500.17
$IRIDIUM_FIX,4729.30,-12249.89,101007,191905
$TT8_MAMPS,0.075166
$HUMID,2162
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,19.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.9,999.0
$24V_AH,23.6,58.820
$10V_AH,10.0,39.386
$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,31.525,40.300,155.475,164.300,0.000,61.246,37.041,321.110,0.500,0.000,3368.000,15.981,409.840,1252.026,454.805,425.948,645.247,33.338,719.545,0.000,395.839,0.000,2.489
$DEVICE_MAMPS,204.022,82.069,682.630,578.318,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,157.121,0.000,0.000,0.000,0.000,0.000,0.000,3368.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6469,222
$CFSIZE,260231168,243572736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,101007,173045,4745.155,-12249.662,13,2.0,13,18.3