version: 66.02
glider: 117
mission: 4
dive: 353
start: 10 6 107 23 30 38
data:
$ID,117
$MISSION,4
$DIVE,353
$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,450
$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,-25237.975
$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,36
$R_STBD_OVSHOOT,36
$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
$GPS1,230815,4745.352,-12249.581,14,1.7,14,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.30
$_SM_ANGLEo,-52.2
$GPS2,232941,4745.695,-12249.354,14,2.1,33,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.088,-0.181
$KALMAN_X,38655.3,239.5,120.6,-34852.3,124.2
$KALMAN_Y,23695.6,512.2,233.1,-13513.8,266.0
$MHEAD_RNG_PITCHd_Wd,187.5,1266,-18.4,-7.917
$D_GRID,171
$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,30,-1.54,-97.8,0.0,0.0,0,127,0.00,0.00,-94.72,0.000,2,0.000,0.000,410,2186,3361
$GC,133,-1.54,-97.8,2.6,-4.9,16,159,13.50,2.55,-5.35,0.000,4,0.198,0.067,2558,3592,3603
$GC,212,-1.54,-97.8,14.1,-10.0,28,218,0.00,2.40,0.00,0.000,6,0.000,0.034,2557,2206,3604
$GC,291,-1.54,-97.8,21.1,-8.2,39,295,0.00,2.62,0.00,0.000,4,0.000,0.066,2558,804,3605
$GC,316,-1.54,-97.8,23.5,-8.9,40,323,0.00,2.45,0.00,0.000,6,0.000,0.035,2557,2201,3606
$GC,512,-1.54,-97.8,41.0,-9.2,56,514,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2201,3605
$GC,705,-1.54,-97.8,58.3,-8.8,71,706,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2201,3605
$GC,893,-1.54,-97.8,75.1,-8.9,86,894,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2202,3605
$GC,1082,-1.54,-97.8,91.6,-8.6,101,1083,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2203,3604
$STATE,1127,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1127,begin apogee
$GC,1135,-0.38,0.0,96.0,8.7,105,1217,1.27,0.00,77.80,0.675,6,0.107,0.000,2808,2126,3201
$STATE,1218,end apogee,CONTROL_FINISHED_OK
$STATE,1218,begin climb
$GC,1221,1.54,97.8,98.7,0.0,112,1303,2.00,0.00,76.43,0.653,6,0.064,0.000,3237,2125,2803
$GC,1490,1.56,113.3,84.9,7.1,134,1507,0.00,2.62,11.68,0.690,4,0.000,0.058,3237,3543,2740
$GC,1588,1.56,113.3,77.0,8.3,141,1592,0.00,2.40,0.00,0.000,6,0.000,0.036,3237,2168,2739
$GC,1784,1.56,113.3,61.7,8.0,156,1785,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,2168,2738
$GC,1977,1.56,120.5,46.9,7.5,171,1985,0.00,0.00,5.10,0.727,6,0.000,0.000,3237,2168,2710
$GC,2174,1.57,123.7,31.0,7.7,187,2187,0.00,2.58,2.40,0.771,4,0.000,0.057,3239,3546,2697
$GC,2232,1.57,123.7,26.2,8.2,191,2239,0.00,2.42,0.00,0.000,6,0.000,0.036,3237,2150,2697
$GC,2434,1.57,123.7,10.5,8.8,216,2439,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,2149,2696
$GC,2507,1.61,158.9,5.5,6.0,227,2520,0.00,0.00,11.02,0.673,2,0.000,0.000,3237,2149,2638
$STATE,2520,end climb,SURFACE_DEPTH_REACHED
$STATE,2520,begin surface coast
$FINISH,-0.4,1.022902
$STATE,2625,end surface coast,CONTROL_FINISHED_OK
$STATE,2625,begin surface
$SM_CCo,2655,140.77,0.582,0,0,1367,450.13
$SM_GC,0.37,0.00,0.00,140.77,0.000,0.000,0.582,408,2203,1367,-11.46,0.08,450.13
$IRIDIUM_FIX,4729.30,-12245.46,071007,030301
$TT8_MAMPS,0.071331
$HUMID,2146
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.6,999.0
$24V_AH,23.6,48.609
$10V_AH,10.1,32.304
$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,29.600,20.175,184.425,140.775,0.000,142.024,147.227,614.790,0.500,0.000,4209.000,34.610,451.116,1650.389,435.034,444.527,1116.231,33.350,684.613,0.000,395.844,0.000,2.489
$DEVICE_MAMPS,197.886,103.545,770.835,582.153,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,173.641,0.000,0.000,0.000,0.000,0.000,0.000,4209.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6469,245
$CFSIZE,260231168,246505472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,001802,4745.547,-12249.411,11,1.9,11,18.3