version: 66.02
glider: 117
mission: 4
dive: 357
start: 10 7 107 3 25 26
data:
$ID,117
$MISSION,4
$DIVE,357
$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,-25353.24
$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,29
$R_STBD_OVSHOOT,27
$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
$GPS1,031544,4745.487,-12249.701,12,1.8,29,18.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.29
$_SM_ANGLEo,-52.6
$GPS2,032429,4745.605,-12249.730,14,2.3,33,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.019,-0.200
$KALMAN_X,38844.8,299.7,84.4,-35529.2,-90.5
$KALMAN_Y,25004.2,724.3,215.9,-15179.5,78.9
$MHEAD_RNG_PITCHd_Wd,156.2,968,-18.4,-7.917
$D_GRID,172
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,30,-1.54,-97.8,0.0,0.0,0,123,0.00,0.00,-90.12,0.000,2,0.000,0.000,407,2199,3259
$GC,129,-1.54,-97.8,2.2,-4.2,15,153,13.57,0.00,-8.12,0.000,6,0.198,0.000,2560,2198,3602
$GC,222,-1.54,-97.8,13.5,-8.8,29,228,0.00,2.55,0.00,0.000,4,0.000,0.059,2560,3601,3605
$GC,268,-1.54,-97.8,17.9,-8.8,36,274,0.00,2.42,0.00,0.000,6,0.000,0.035,2560,2201,3605
$GC,345,-1.54,-97.8,24.3,-8.5,44,349,0.00,2.60,0.00,0.000,4,0.000,0.065,2561,803,3605
$GC,457,-1.54,-97.8,35.0,-9.5,52,462,0.00,2.45,0.00,0.000,6,0.000,0.036,2561,2204,3605
$GC,653,-1.54,-97.8,53.0,-9.0,67,654,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2204,3605
$GC,844,-1.54,-97.8,69.4,-8.6,82,852,0.00,2.53,0.00,0.000,4,0.000,0.059,2560,3602,3605
$GC,878,-1.54,-97.8,72.6,-9.3,84,885,0.00,2.45,0.00,0.000,6,0.000,0.035,2560,2198,3605
$GC,1075,-1.54,-97.8,88.2,-8.1,100,1076,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2198,3605
$STATE,1160,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1160,begin apogee
$GC,1167,-0.38,0.0,95.6,8.1,107,1249,1.25,0.00,77.68,0.676,6,0.103,0.000,2808,2133,3202
$STATE,1250,end apogee,CONTROL_FINISHED_OK
$STATE,1250,begin climb
$GC,1253,1.54,97.8,97.9,0.0,114,1335,1.98,0.00,76.68,0.654,6,0.064,0.000,3234,2133,2804
$GC,1522,1.54,103.5,82.6,7.6,136,1535,0.00,2.62,4.03,0.739,4,0.000,0.056,3234,3546,2780
$GC,1567,1.54,103.5,78.8,8.3,139,1574,0.00,2.42,0.00,0.000,6,0.000,0.035,3234,2155,2779
$GC,1763,1.55,105.5,63.4,7.8,155,1768,0.00,2.53,0.00,0.000,4,0.000,0.057,3236,3546,2779
$GC,1815,1.55,105.5,59.1,8.1,158,1822,0.00,2.42,0.00,0.000,6,0.000,0.035,3234,2150,2779
$GC,2012,1.56,115.7,44.7,7.4,174,2027,0.00,2.60,9.20,0.696,4,0.000,0.055,3236,3541,2730
$GC,2102,1.56,115.7,37.2,8.7,181,2107,0.00,2.42,0.00,0.000,6,0.000,0.036,3234,2150,2729
$GC,2298,1.58,133.2,23.1,7.0,196,2314,0.00,0.00,13.25,0.672,6,0.000,0.000,3234,2149,2658
$GC,2508,1.65,188.7,9.6,4.9,224,2557,0.12,2.67,42.67,0.627,4,0.060,0.067,3266,754,2431
$STATE,2594,end climb,SURFACE_DEPTH_REACHED
$STATE,2594,begin surface coast
$FINISH,-0.3,1.022930
$STATE,2690,end surface coast,CONTROL_FINISHED_OK
$STATE,2690,begin surface
$SM_CCo,2721,118.55,0.581,0,0,1367,450.13
$SM_GC,0.23,0.00,0.00,118.55,0.000,0.000,0.581,413,2210,1367,-11.44,0.28,450.13
$IRIDIUM_FIX,4729.30,-12249.89,071007,060621
$TT8_MAMPS,0.073632
$HUMID,2176
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.0,999.0
$24V_AH,23.7,48.948
$10V_AH,10.1,32.601
$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,30.000,35.350,223.500,118.550,0.000,62.424,35.488,196.347,0.500,0.000,3512.000,34.081,458.778,1517.772,454.237,469.022,481.836,33.341,726.851,0.000,424.908,0.000,2.497
$DEVICE_MAMPS,197.886,105.846,738.621,580.619,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,178.548,0.000,0.000,0.000,0.000,0.000,0.000,3512.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6472,252
$CFSIZE,260231168,246386688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,041407,4745.485,-12249.702,39,1.7,44,18.3