version: 66.02
glider: 117
mission: 4
dive: 457
start: 10 10 107 17 46 50
data:
$ID,117
$MISSION,4
$DIVE,457
$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,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,-28114.65
$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
$GPS1,173045,4745.155,-12249.662,13,2.0,13,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.05
$_SM_ANGLEo,-60.6
$GPS2,174553,4745.168,-12249.704,12,2.2,31,18.3
$SPEED_LIMITS,0.137,0.241
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.019,-0.136
$KALMAN_X,35049.2,40.0,-74.5,-31282.5,-129.0
$KALMAN_Y,31294.6,487.4,110.1,-21931.5,-83.0
$MHEAD_RNG_PITCHd_Wd,169.7,206,-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,29,end surface,CONTROL_FINISHED_OK
$STATE,29,begin dive
$GC,33,-2.18,-44.5,0.0,0.0,0,138,0.00,0.00,-101.45,0.000,2,0.000,0.000,412,2187,3320
$GC,145,-2.20,-67.8,2.3,-5.1,17,164,12.82,0.00,-3.38,0.000,6,0.203,0.000,2410,2187,3481
$GC,233,-2.20,-67.8,18.7,-14.4,30,240,0.00,2.60,0.00,0.000,4,0.000,0.065,2410,800,3483
$GC,261,-2.20,-67.8,23.2,-14.9,33,265,0.00,2.47,0.00,0.000,6,0.000,0.036,2410,2201,3485
$GC,457,-2.20,-67.8,48.8,-13.1,48,461,0.00,2.53,0.00,0.000,4,0.000,0.058,2411,3597,3483
$GC,517,-2.20,-67.8,56.7,-13.9,52,521,0.00,2.40,0.00,0.000,6,0.000,0.035,2411,2204,3483
$GC,720,-2.20,-67.8,82.9,-12.7,68,724,0.00,2.53,0.00,0.000,4,0.000,0.056,2411,3598,3483
$GC,766,-2.20,-67.8,89.3,-13.5,71,771,0.00,2.42,0.00,0.000,6,0.000,0.035,2410,2201,3483
$STATE,820,end dive,TARGET_DEPTH_EXCEEDED
$STATE,821,begin apogee
$GC,829,-0.38,0.0,96.7,12.8,75,888,2.08,0.00,54.40,0.683,6,0.120,0.000,2812,2138,3202
$STATE,889,end apogee,CONTROL_FINISHED_OK
$STATE,889,begin climb
$GC,893,2.20,67.8,99.6,0.0,80,955,2.62,2.67,53.00,0.667,4,0.058,0.055,3381,3546,2924
$GC,1022,2.22,83.6,95.0,6.0,90,1039,0.00,2.42,11.73,0.697,6,0.000,0.035,3381,2160,2861
$GC,1230,2.23,85.4,79.4,7.7,106,1235,0.00,2.53,0.00,0.000,4,0.000,0.056,3381,3547,2860
$GC,1332,2.23,85.4,70.9,8.9,113,1336,0.00,2.45,0.00,0.000,6,0.000,0.035,3381,2142,2860
$GC,1528,2.23,87.1,55.0,7.7,128,1540,0.00,2.60,2.42,0.785,4,0.000,0.055,3381,3545,2846
$GC,1586,2.23,87.1,50.5,8.3,132,1592,0.00,2.42,0.00,0.000,6,0.000,0.035,3381,2149,2845
$GC,1783,2.23,89.4,35.4,7.7,148,1786,0.00,0.00,1.48,0.821,6,0.000,0.000,3381,2150,2837
$GC,1972,2.24,97.0,21.2,7.0,163,1985,0.00,2.58,5.78,0.721,4,0.000,0.057,3381,3556,2806
$GC,2203,2.29,137.3,10.5,3.1,196,2240,0.00,2.42,30.52,0.644,6,0.000,0.035,3382,2149,2641
$GC,2307,2.31,150.5,5.8,6.3,212,2320,0.00,1.25,9.88,0.670,3,0.000,0.053,3381,1485,2588
$STATE,2321,end climb,SURFACE_DEPTH_REACHED
$STATE,2321,begin surface coast
$FINISH,-0.7,1.010369
$STATE,2411,end surface coast,CONTROL_FINISHED_OK
$STATE,2412,begin surface
$SM_CCo,2445,219.65,0.576,0,0,746,602.46
$SM_GC,-0.03,0.00,0.00,219.65,0.000,0.000,0.576,411,2210,746,-11.44,0.31,602.46
$IRIDIUM_FIX,4726.11,-12250.84,101007,212149
$TT8_MAMPS,0.072098
$HUMID,2149
$INTERNAL_PRESSURE,7.90069
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.0,999.0
$24V_AH,23.6,58.914
$10V_AH,10.0,39.464
$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,31.400,37.625,169.200,219.650,0.000,185.595,303.637,0.000,0.500,0.000,3628.000,32.100,434.639,1495.161,504.001,438.775,716.325,33.337,765.521,0.000,403.339,0.000,2.489
$DEVICE_MAMPS,203.255,107.380,820.690,576.017,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,161.396,0.000,0.000,0.000,0.000,0.000,0.000,3628.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6446,228
$CFSIZE,260231168,243523584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,101007,183223,4744.979,-12249.771,9,2.4,28,18.3