version: 66.02
glider: 117
mission: 4
dive: 355
start: 10 7 107 1 27 50
data:
$ID,117
$MISSION,4
$DIVE,355
$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,-25303.623
$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,29
$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
$GPS1,011811,4745.547,-12249.490,11,2.6,30,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.36
$_SM_ANGLEo,-55.4
$GPS2,012653,4745.664,-12249.482,12,2.9,31,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.074,-0.187
$KALMAN_X,38868.5,293.2,140.7,-35291.8,66.8
$KALMAN_Y,24290.1,650.4,264.2,-14326.2,161.7
$MHEAD_RNG_PITCHd_Wd,183.4,1148,-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,-97.8,0.0,0.0,0,115,0.00,0.00,-84.15,0.000,2,0.000,0.000,407,2198,3106
$GC,118,-1.54,-97.8,2.0,-4.9,14,149,13.60,0.00,-14.48,0.000,6,0.199,0.000,2560,2198,3602
$GC,216,-1.54,-97.8,10.7,-8.7,29,221,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2198,3605
$GC,288,-1.54,-97.8,17.0,-8.6,40,294,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2198,3605
$GC,366,-1.54,-97.8,23.6,-8.9,49,370,0.00,2.62,0.00,0.000,4,0.000,0.065,2561,798,3605
$GC,431,-1.54,-97.8,29.9,-8.9,53,437,0.00,2.47,0.00,0.000,6,0.000,0.037,2561,2207,3605
$GC,627,-1.54,-97.8,46.1,-8.1,69,631,0.00,2.62,0.00,0.000,4,0.000,0.064,2561,798,3605
$GC,666,-1.54,-97.8,49.3,-8.0,71,673,0.00,2.45,0.00,0.000,6,0.000,0.036,2560,2203,3605
$GC,862,-1.54,-97.8,64.5,-7.6,87,863,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2203,3605
$GC,1054,-1.54,-97.8,79.5,-8.1,102,1055,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2203,3605
$GC,1243,-1.54,-97.8,94.5,-8.2,117,1244,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2203,3605
$STATE,1250,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1250,begin apogee
$GC,1258,-0.38,0.0,95.5,8.3,118,1339,1.25,0.00,77.57,0.675,6,0.101,0.000,2809,2127,3202
$STATE,1340,end apogee,CONTROL_FINISHED_OK
$STATE,1340,begin climb
$GC,1343,1.54,97.8,98.1,0.0,125,1429,1.98,2.65,76.32,0.655,4,0.063,0.058,3236,3550,2803
$GC,1455,1.59,140.8,94.6,5.6,134,1496,0.00,2.42,33.10,0.652,6,0.000,0.035,3236,2166,2626
$GC,1694,1.59,140.8,75.3,8.5,153,1698,0.00,2.53,0.00,0.000,4,0.000,0.057,3236,3553,2625
$GC,1740,1.59,140.8,71.4,8.7,156,1745,0.00,2.45,0.00,0.000,6,0.000,0.036,3236,2146,2624
$GC,1937,1.62,165.6,57.3,6.6,171,1960,0.00,0.00,18.62,0.665,6,0.000,0.000,3236,2146,2526
$GC,2150,1.64,182.7,42.8,7.0,188,2168,0.00,2.58,13.25,0.670,4,0.000,0.056,3236,3546,2456
$GC,2195,1.64,182.7,39.4,8.2,191,2199,0.00,2.45,0.00,0.000,6,0.000,0.036,3236,2148,2455
$GC,2390,1.64,182.7,22.9,8.7,206,2395,0.00,2.53,0.00,0.000,4,0.000,0.056,3236,3548,2454
$GC,2436,1.64,182.7,17.8,11.5,210,2443,0.00,2.42,0.00,0.000,6,0.000,0.036,3236,2151,2454
$GC,2509,1.64,182.7,9.8,10.6,221,2515,0.00,2.62,0.00,0.000,4,0.000,0.067,3236,751,2454
$STATE,2566,end climb,SURFACE_DEPTH_REACHED
$STATE,2566,begin surface coast
$FINISH,0.2,1.022789
$STATE,2626,end surface coast,CONTROL_FINISHED_OK
$STATE,2626,begin surface
$SM_CCo,2658,121.55,0.584,0,0,1366,450.13
$SM_GC,0.33,0.00,0.00,121.55,0.000,0.000,0.584,410,2201,1366,-11.45,0.03,450.13
$IRIDIUM_FIX,4726.11,-12248.15,071007,040450
$TT8_MAMPS,0.073632
$HUMID,2155
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.5,999.0
$24V_AH,23.7,48.779
$10V_AH,10.1,32.452
$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,29.700,35.475,218.875,121.550,0.000,64.379,37.218,190.779,0.250,0.000,3433.000,32.663,445.899,1488.732,444.457,459.422,479.625,33.351,721.677,0.000,414.923,0.000,2.488
$DEVICE_MAMPS,198.653,70.564,674.960,583.687,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,169.501,0.000,0.000,0.000,0.000,0.000,0.000,3433.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6446,239
$CFSIZE,260231168,246448128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,021503,4745.476,-12249.609,16,2.0,16,18.3