version: 66.02
glider: 117
mission: 4
dive: 366
start: 10 7 107 11 43 21
data:
$ID,117
$MISSION,4
$DIVE,366
$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,-25599.9
$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,31
$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
$GPS1,113327,4745.130,-12249.776,10,1.1,10,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.26
$_SM_ANGLEo,-55.6
$GPS2,114223,4745.190,-12249.813,15,2.2,34,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.034,-0.166
$KALMAN_X,38850.5,-68.9,-10.1,-35175.6,-52.5
$KALMAN_Y,27720.6,419.8,63.4,-18205.0,54.0
$MHEAD_RNG_PITCHd_Wd,150.0,193,-22.2,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,30,-1.79,-68.1,0.0,0.0,0,116,0.00,0.00,-84.00,0.000,2,0.000,0.000,410,2188,3090
$GC,120,-1.83,-97.8,2.0,-4.9,14,151,13.20,0.00,-15.07,0.000,6,0.199,0.000,2495,2188,3602
$GC,218,-1.83,-97.8,12.6,-12.0,29,224,0.00,2.60,0.00,0.000,4,0.000,0.066,2495,803,3605
$GC,264,-1.83,-97.8,18.6,-12.6,36,270,0.00,2.45,0.00,0.000,6,0.000,0.035,2495,2201,3605
$GC,340,-1.83,-97.8,28.1,-12.3,43,344,0.00,2.53,0.00,0.000,4,0.000,0.059,2494,3598,3605
$GC,504,-1.83,-97.8,47.0,-10.9,55,509,0.00,2.42,0.00,0.000,6,0.000,0.035,2495,2198,3607
$GC,700,-1.83,-97.8,67.7,-10.3,70,701,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2198,3605
$GC,892,-1.83,-97.8,88.7,-11.3,85,896,0.00,2.55,0.00,0.000,4,0.000,0.057,2495,3604,3605
$GC,930,-1.83,-97.8,93.6,-11.9,87,937,0.00,2.42,0.00,0.000,6,0.000,0.035,2495,2200,3605
$STATE,947,end dive,TARGET_DEPTH_EXCEEDED
$STATE,947,begin apogee
$GC,954,-0.38,0.0,95.8,11.7,89,1038,1.62,0.00,78.32,0.668,6,0.110,0.000,2811,2137,3202
$STATE,1039,end apogee,CONTROL_FINISHED_OK
$STATE,1039,begin climb
$GC,1042,1.83,97.8,99.0,0.0,96,1128,2.28,2.67,77.15,0.653,4,0.061,0.055,3306,3547,2802
$GC,1172,1.83,97.8,92.9,8.4,106,1180,0.00,2.45,0.00,0.000,6,0.000,0.035,3306,2163,2800
$GC,1369,1.83,97.8,76.3,8.5,122,1373,0.00,2.53,0.00,0.000,4,0.000,0.056,3305,3548,2800
$GC,1442,1.83,97.8,69.5,9.0,127,1446,0.00,2.42,0.00,0.000,6,0.000,0.036,3305,2149,2800
$GC,1644,1.83,97.8,51.5,9.0,143,1649,0.00,2.55,0.00,0.000,4,0.000,0.056,3306,3553,2799
$GC,1704,1.83,97.8,46.0,9.5,147,1708,0.00,2.45,0.00,0.000,6,0.000,0.035,3305,2144,2800
$GC,1900,1.83,97.8,29.4,8.3,162,1901,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,2144,2800
$GC,2093,1.89,145.6,19.3,4.2,178,2136,0.00,2.60,36.35,0.635,4,0.000,0.055,3305,3546,2607
$STATE,2272,end climb,SURFACE_DEPTH_REACHED
$STATE,2272,begin surface coast
$FINISH,0.7,1.022807
$STATE,2319,end surface coast,CONTROL_FINISHED_OK
$STATE,2319,begin surface
$SM_CCo,2352,140.02,0.579,0,0,1367,450.13
$SM_GC,0.32,0.00,0.00,140.02,0.000,0.000,0.579,409,2182,1367,-11.45,-0.51,450.13
$IRIDIUM_FIX,4729.30,-12249.89,071007,141418
$TT8_MAMPS,0.072865
$HUMID,2170
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.4,999.0
$24V_AH,23.7,49.691
$10V_AH,10.1,33.228
$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,30.250,35.075,191.825,140.025,0.000,61.066,43.767,196.434,0.250,0.000,3136.000,35.855,400.484,1293.708,441.189,424.608,487.115,33.346,687.648,0.000,377.970,0.000,2.489
$DEVICE_MAMPS,199.420,108.914,668.057,579.085,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,150.968,0.000,0.000,0.000,0.000,0.000,0.000,3136.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6447,213
$CFSIZE,260231168,246132736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,122602,4745.041,-12249.771,13,2.0,31,18.3