version: 66.02
glider: 117
mission: 4
dive: 365
start: 10 7 107 10 50 44
data:
$ID,117
$MISSION,4
$DIVE,365
$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,-25563.416
$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
$GPS1,103826,4745.203,-12249.659,26,2.0,45,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.26
$_SM_ANGLEo,-53.3
$GPS2,104945,4745.278,-12249.711,14,1.8,14,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.038,-0.166
$KALMAN_X,38879.6,-28.4,-39.4,-35085.3,-42.8
$KALMAN_Y,27454.6,487.7,53.7,-17830.9,38.9
$MHEAD_RNG_PITCHd_Wd,174.6,379,-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,-68.1,0.0,0.0,0,122,0.00,0.00,-89.97,0.000,2,0.000,0.000,409,2188,3224
$GC,128,-1.83,-97.8,2.1,-5.0,15,159,13.18,2.62,-9.62,0.000,4,0.198,0.076,2495,797,3604
$GC,225,-1.83,-97.8,15.9,-12.7,30,231,0.00,2.47,0.00,0.000,6,0.000,0.036,2495,2202,3605
$GC,303,-1.83,-97.8,25.0,-12.4,39,307,0.00,2.53,0.00,0.000,4,0.000,0.058,2495,3597,3605
$GC,354,-1.83,-97.8,31.5,-11.9,42,361,0.00,2.42,0.00,0.000,6,0.000,0.035,2495,2199,3605
$GC,551,-1.83,-97.8,52.8,-10.9,58,552,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2199,3606
$GC,742,-1.83,-97.8,73.3,-10.5,73,744,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2198,3606
$GC,931,-1.83,-97.8,93.1,-10.6,88,936,0.00,2.53,0.00,0.000,4,0.000,0.057,2495,3603,3606
$STATE,948,end dive,TARGET_DEPTH_EXCEEDED
$STATE,948,begin apogee
$GC,958,-0.38,0.0,95.5,10.4,89,1041,1.60,0.00,78.15,0.671,6,0.113,0.000,2811,2142,3202
$STATE,1042,end apogee,CONTROL_FINISHED_OK
$STATE,1042,begin climb
$GC,1045,1.83,97.8,98.8,0.0,96,1130,2.25,0.00,77.30,0.650,6,0.061,0.000,3304,2142,2802
$GC,1320,1.83,97.8,79.8,9.2,118,1324,0.00,2.55,0.00,0.000,4,0.000,0.056,3304,3546,2800
$GC,1424,1.83,97.8,69.7,9.6,125,1431,0.00,2.42,0.00,0.000,6,0.000,0.035,3304,2148,2800
$GC,1621,1.83,97.8,52.8,8.5,141,1622,0.00,0.00,0.00,0.000,6,0.000,0.000,3304,2147,2800
$GC,1812,1.83,97.8,36.9,8.7,156,1814,0.00,0.00,0.00,0.000,6,0.000,0.000,3304,2148,2800
$GC,2003,1.87,128.9,22.7,5.5,171,2032,0.00,2.60,23.38,0.646,4,0.000,0.057,3304,3546,2675
$STATE,2255,end climb,SURFACE_DEPTH_REACHED
$STATE,2255,begin surface coast
$FINISH,-0.5,1.022946
$STATE,2340,end surface coast,CONTROL_FINISHED_OK
$STATE,2340,begin surface
$SM_CCo,2370,145.60,0.578,0,0,1366,450.13
$SM_GC,0.27,0.00,0.00,145.60,0.000,0.000,0.578,410,2187,1366,-11.45,-0.34,450.13
$IRIDIUM_FIX,4726.11,-12250.84,071007,141412
$TT8_MAMPS,0.071331
$HUMID,2158
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,20.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.6,999.0
$24V_AH,23.7,49.611
$10V_AH,10.1,33.162
$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,30.250,25.075,178.825,145.600,0.000,103.834,116.373,177.257,0.500,0.000,3333.000,14.184,406.222,1404.784,430.634,392.335,579.638,33.345,662.933,0.000,364.942,0.000,2.489
$DEVICE_MAMPS,197.886,75.933,671.125,578.318,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,154.438,0.000,0.000,0.000,0.000,0.000,0.000,3333.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6442,218
$CFSIZE,260231168,246161408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,113327,4745.130,-12249.776,10,1.1,10,18.3