version: 66.02
glider: 117
mission: 4
dive: 358
start: 10 7 107 4 23 29
data:
$ID,117
$MISSION,4
$DIVE,358
$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,-25384.709
$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,35
$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
$GPS1,041407,4745.485,-12249.702,39,1.7,44,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.27
$_SM_ANGLEo,-49.5
$GPS2,042232,4745.596,-12249.705,13,1.8,30,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.011,-0.201
$KALMAN_X,38906.9,274.6,22.1,-35473.8,-77.4
$KALMAN_Y,25455.7,735.5,167.0,-15610.6,123.5
$MHEAD_RNG_PITCHd_Wd,158.7,955,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-1.54,-97.8,0.0,0.0,0,121,0.00,0.00,-90.22,0.000,2,0.000,0.000,413,2210,3272
$GC,126,-1.54,-97.8,2.5,-5.5,15,151,13.50,0.00,-7.65,0.000,6,0.198,0.000,2559,2210,3602
$GC,220,-1.54,-97.8,15.2,-11.6,29,226,0.00,2.53,0.00,0.000,4,0.000,0.060,2559,3597,3605
$GC,286,-1.54,-97.8,22.5,-10.0,38,290,0.00,2.40,0.00,0.000,6,0.000,0.035,2559,2200,3605
$GC,481,-1.54,-97.8,40.8,-9.2,53,486,0.00,2.60,0.00,0.000,4,0.000,0.065,2560,802,3605
$GC,569,-1.54,-97.8,48.5,-9.2,59,573,0.00,2.45,0.00,0.000,6,0.000,0.036,2559,2196,3605
$GC,765,-1.54,-97.8,65.6,-8.6,74,766,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2196,3605
$GC,958,-1.54,-97.8,81.9,-8.7,89,962,0.00,2.55,0.00,0.000,4,0.000,0.061,2559,3605,3605
$GC,1010,-1.54,-97.8,86.8,-8.7,92,1016,0.00,2.42,0.00,0.000,6,0.000,0.035,2559,2196,3605
$STATE,1115,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1115,begin apogee
$GC,1122,-0.38,0.0,96.0,8.4,101,1205,1.27,0.00,77.88,0.673,6,0.104,0.000,2812,2132,3201
$STATE,1205,end apogee,CONTROL_FINISHED_OK
$STATE,1206,begin climb
$GC,1209,1.54,97.8,98.3,0.0,108,1290,1.98,0.00,76.68,0.655,6,0.063,0.000,3237,2132,2803
$GC,1477,1.55,110.3,83.3,7.2,130,1493,0.00,2.65,9.35,0.699,4,0.000,0.057,3237,3546,2752
$GC,1590,1.55,110.3,74.1,8.8,138,1596,0.00,2.40,0.00,0.000,6,0.000,0.036,3237,2165,2751
$GC,1786,1.56,115.7,58.7,7.6,154,1799,0.00,2.55,3.78,0.745,4,0.000,0.058,3237,3545,2730
$GC,1852,1.56,115.7,53.4,7.9,159,1856,0.00,2.42,0.00,0.000,6,0.000,0.037,3237,2148,2729
$GC,2048,1.57,122.2,38.7,7.6,174,2059,0.00,0.00,4.82,0.728,6,0.000,0.000,3237,2148,2703
$GC,2249,1.62,163.8,25.1,5.7,190,2288,0.00,2.72,32.15,0.640,4,0.000,0.065,3237,752,2534
$GC,2366,1.62,163.8,16.7,8.4,201,2372,0.00,2.47,0.00,0.000,6,0.000,0.035,3237,2157,2532
$GC,2439,1.62,163.8,10.8,8.1,212,2445,0.00,2.53,0.00,0.000,4,0.000,0.060,3237,3547,2532
$STATE,2508,end climb,SURFACE_DEPTH_REACHED
$STATE,2508,begin surface coast
$FINISH,-0.2,1.022883
$STATE,2569,end surface coast,CONTROL_FINISHED_OK
$STATE,2569,begin surface
$SM_CCo,2602,129.98,0.582,0,0,1366,450.13
$SM_GC,0.19,0.00,0.00,129.98,0.000,0.000,0.582,408,2192,1366,-11.46,-0.23,450.13
$IRIDIUM_FIX,4729.30,-12245.46,071007,070729
$TT8_MAMPS,0.072865
$HUMID,2180
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,71.1,999.0
$24V_AH,23.7,49.028
$10V_AH,10.1,32.673
$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,29.600,35.125,204.650,129.975,0.000,57.376,39.001,180.163,0.250,0.000,3362.000,30.839,437.283,1458.114,452.541,443.422,462.325,33.339,712.199,0.000,404.063,0.000,2.489
$DEVICE_MAMPS,197.886,108.914,744.757,582.153,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,164.590,0.000,0.000,0.000,0.000,0.000,0.000,3362.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6446,232
$CFSIZE,260231168,246358016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,071007,050951,4745.417,-12249.634,13,1.5,13,18.3