version: 66.02
glider: 117
mission: 4
dive: 354
start: 10 7 107 0 29 8
data:
$ID,117
$MISSION,4
$DIVE,354
$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,-25270.33
$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,37
$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
$GPS1,001802,4745.547,-12249.411,11,1.9,11,18.3
$_CALLS,2
$_XMS_NAKs,12
$_XMS_TOUTs,2
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-54.3
$GPS2,002811,4745.712,-12249.317,11,2.6,30,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.098,-0.175
$KALMAN_X,38853.5,269.5,132.3,-35043.0,134.3
$KALMAN_Y,24042.4,589.5,252.9,-13918.5,232.2
$MHEAD_RNG_PITCHd_Wd,190.9,1316,-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,-97.8,0.0,0.0,0,117,0.00,0.00,-84.10,0.000,2,0.000,0.000,408,2205,3105
$GC,121,-1.54,-97.8,2.0,-4.8,14,158,13.65,2.70,-14.50,0.000,4,0.201,0.077,2558,800,3602
$GC,211,-1.54,-97.8,11.5,-11.1,28,217,0.00,2.45,0.00,0.000,6,0.000,0.036,2558,2195,3606
$GC,284,-1.54,-97.8,17.8,-7.5,39,290,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2195,3605
$GC,355,-1.54,-97.8,23.7,-8.5,47,359,0.00,2.60,0.00,0.000,4,0.000,0.064,2558,802,3605
$GC,388,-1.54,-97.8,26.3,-8.6,49,392,0.00,2.45,0.00,0.000,6,0.000,0.036,2558,2200,3605
$GC,584,-1.54,-97.8,42.3,-8.0,64,585,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2200,3605
$GC,775,-1.54,-97.8,57.4,-7.5,79,776,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2200,3604
$GC,965,-1.54,-97.8,71.3,-7.2,94,966,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2200,3605
$GC,1156,-1.54,-97.8,84.9,-7.3,109,1161,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2200,3605
$STATE,1286,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1286,begin apogee
$GC,1293,-0.38,0.0,95.2,7.7,120,1374,1.27,0.00,77.55,0.676,6,0.103,0.000,2810,2125,3202
$STATE,1375,end apogee,CONTROL_FINISHED_OK
$STATE,1375,begin climb
$GC,1379,1.54,97.8,97.0,0.0,127,1460,1.98,0.00,76.68,0.653,6,0.064,0.000,3235,2125,2803
$GC,1647,1.55,112.1,81.7,7.1,149,1663,0.00,2.65,10.55,0.696,4,0.000,0.058,3236,3538,2744
$GC,1726,1.55,112.1,75.3,8.4,155,1730,0.00,2.40,0.00,0.000,6,0.000,0.036,3236,2159,2744
$GC,1928,1.57,128.6,60.2,7.0,171,1943,0.00,0.00,12.55,0.687,6,0.000,0.000,3236,2159,2677
$GC,2130,1.58,130.7,44.6,7.8,187,2134,0.00,2.53,0.00,0.000,4,0.000,0.058,3235,3546,2677
$GC,2181,1.58,130.7,40.3,8.2,190,2188,0.00,2.42,0.00,0.000,6,0.000,0.036,3236,2149,2676
$GC,2378,1.60,151.9,25.5,6.8,206,2401,0.00,0.00,17.85,0.660,6,0.000,0.000,3236,2149,2581
$GC,2598,1.62,168.2,8.0,7.0,234,2617,0.00,2.65,12.20,0.663,4,0.000,0.067,3236,753,2515
$STATE,2634,end climb,SURFACE_DEPTH_REACHED
$STATE,2634,begin surface coast
$FINISH,-0.2,1.022872
$STATE,2714,end surface coast,CONTROL_FINISHED_OK
$STATE,2715,begin surface
$SM_CCo,2747,127.55,0.580,0,0,1366,450.13
$SM_GC,0.30,0.00,0.00,127.55,0.000,0.000,0.580,407,2199,1366,-11.47,-0.03,450.13
$IRIDIUM_FIX,4726.11,-12248.15,071007,030358
$TT8_MAMPS,0.073632
$HUMID,2156
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.3,999.0
$24V_AH,23.7,48.696
$10V_AH,10.1,32.379
$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,29.700,25.500,207.375,127.550,0.000,58.372,36.410,275.411,0.250,0.000,3599.000,31.726,459.580,1583.740,445.761,450.000,560.738,33.348,702.605,0.000,404.919,0.000,2.489
$DEVICE_MAMPS,200.954,77.467,695.669,579.852,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,178.651,0.000,0.000,0.000,0.000,0.000,0.000,3599.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6445,252
$CFSIZE,260231168,246472704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,011811,4745.547,-12249.490,11,2.6,30,18.3