version: 66.02
glider: 117
mission: 4
dive: 332
start: 10 6 107 3 4 41
data:
$ID,117
$MISSION,4
$DIVE,332
$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,-2
$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,-24683.803
$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,42
$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
$GPS1,024823,4744.916,-12250.012,14,5.0,33,18.3
$_CALLS,3
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,0.47
$_SM_ANGLEo,-57.7
$GPS2,030335,4744.906,-12250.075,16,2.8,35,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.133,0.151
$KALMAN_X,37697.1,-32.9,-22.5,-34369.7,-23.6
$KALMAN_Y,20755.3,234.8,64.7,-11577.1,-57.3
$MHEAD_RNG_PITCHd_Wd,23.1,465,-18.4,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-1.54,-97.8,0.0,0.0,0,141,0.00,0.00,-108.18,0.000,2,0.000,0.000,413,2190,2969
$GC,144,-1.54,-97.8,2.0,-4.6,18,182,13.52,2.67,-18.35,0.000,4,0.198,0.076,2558,798,3603
$GC,301,-1.54,-97.8,17.8,-10.2,42,308,0.00,2.45,0.00,0.000,6,0.000,0.036,2558,2196,3605
$GC,378,-1.54,-97.8,24.9,-9.2,50,379,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2196,3605
$GC,571,-1.54,-97.8,42.2,-9.0,65,575,0.00,2.53,0.00,0.000,4,0.000,0.058,2558,3597,3605
$GC,604,-1.54,-97.8,45.6,-9.4,67,608,0.00,2.42,0.00,0.000,6,0.000,0.035,2558,2195,3606
$GC,799,-1.54,-97.8,63.2,-9.0,82,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2195,3605
$GC,991,-1.54,-97.8,80.3,-9.1,97,995,0.00,2.55,0.00,0.000,4,0.000,0.057,2558,3603,3606
$GC,1024,-1.54,-97.8,83.7,-9.8,99,1028,0.00,2.42,0.00,0.000,6,0.000,0.035,2558,2199,3605
$STATE,1154,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1154,begin apogee
$GC,1161,-0.38,0.0,95.4,9.0,109,1242,1.27,0.00,76.82,0.671,6,0.102,0.000,2811,2139,3202
$STATE,1243,end apogee,CONTROL_FINISHED_OK
$STATE,1243,begin climb
$GC,1246,1.54,97.8,98.1,0.0,116,1328,1.98,0.00,76.10,0.652,6,0.062,0.000,3236,2139,2803
$GC,1515,1.57,125.1,85.7,6.4,138,1543,0.00,2.70,21.00,0.665,4,0.000,0.065,3236,758,2691
$GC,1557,1.58,132.4,82.6,7.5,141,1568,0.00,2.47,5.22,0.703,6,0.000,0.035,3236,2152,2662
$GC,1766,1.58,132.4,65.4,8.4,158,1771,0.00,2.55,0.00,0.000,4,0.000,0.060,3236,3551,2662
$GC,1839,1.58,132.4,59.1,8.7,163,1843,0.00,2.42,0.00,0.000,6,0.000,0.036,3236,2161,2662
$GC,2034,1.58,132.4,42.8,8.3,178,2039,0.00,2.53,0.00,0.000,4,0.000,0.057,3236,3547,2661
$GC,2099,1.58,132.4,37.2,8.6,182,2106,0.00,2.45,0.00,0.000,6,0.000,0.036,3236,2157,2661
$GC,2297,1.58,132.4,21.8,8.0,198,2298,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,2157,2661
$GC,2493,1.62,167.5,7.2,6.0,226,2529,0.00,2.62,26.65,0.636,4,0.000,0.057,3237,3551,2519
$STATE,2533,end climb,SURFACE_DEPTH_REACHED
$STATE,2533,begin surface coast
$FINISH,-0.2,1.022613
$STATE,2647,end surface coast,CONTROL_FINISHED_OK
$STATE,2647,begin surface
$SM_CCo,2679,126.35,0.582,0,0,1366,450.13
$SM_GC,0.61,0.00,0.00,126.35,0.000,0.000,0.582,409,2193,1366,-11.46,-0.20,450.13
$IRIDIUM_FIX,4726.11,-12248.15,061007,060603
$TT8_MAMPS,0.071331
$HUMID,2171
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,20.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,71.0,999.0
$24V_AH,23.6,46.736
$10V_AH,10.1,30.735
$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,29.725,35.225,205.800,126.350,0.000,100.309,70.260,434.220,0.250,0.000,3941.000,36.382,452.294,1563.219,459.401,465.674,803.142,33.341,729.685,0.000,416.559,0.000,2.488
$DEVICE_MAMPS,197.886,108.147,702.572,582.153,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,176.668,0.000,0.000,0.000,0.000,0.000,0.000,3941.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6461,250
$CFSIZE,260231168,247177216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,061007,035235,4745.090,-12249.877,12,2.2,31,18.3