version: 66.02
glider: 117
mission: 4
dive: 378
start: 10 7 107 23 44 16
data:
$ID,117
$MISSION,4
$DIVE,378
$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,500
$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,-25914.777
$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,31
$R_STBD_OVSHOOT,38
$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
$GPS1,232122,4745.117,-12249.657,38,2.6,57,18.3
$_CALLS,3
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-52.8
$GPS2,234315,4745.093,-12249.671,14,1.4,14,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.170,0.002
$KALMAN_X,37904.2,-159.0,-36.0,-33933.4,45.3
$KALMAN_Y,29828.5,43.5,8.7,-20055.5,-18.4
$MHEAD_RNG_PITCHd_Wd,252.4,180,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-1.79,-68.1,0.0,0.0,0,153,0.00,0.00,-122.38,0.000,2,0.000,0.000,403,2215,3227
$GC,157,-1.83,-97.8,2.0,-5.3,20,188,13.30,2.70,-9.23,0.000,4,0.200,0.077,2492,807,3604
$GC,294,-1.83,-97.8,22.6,-14.8,40,300,0.00,2.45,0.00,0.000,6,0.000,0.036,2492,2201,3605
$GC,490,-1.83,-97.8,45.7,-11.0,56,494,0.00,2.53,0.00,0.000,4,0.000,0.059,2492,3598,3605
$GC,564,-1.83,-97.8,54.1,-12.4,61,569,0.00,2.42,0.00,0.000,6,0.000,0.035,2492,2199,3606
$GC,760,-1.83,-97.8,75.9,-10.5,76,761,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2198,3606
$STATE,934,end dive,TARGET_DEPTH_EXCEEDED
$STATE,934,begin apogee
$GC,944,-0.38,0.0,95.2,11.1,90,1024,1.60,0.00,75.72,0.672,6,0.110,0.000,2810,2138,3202
$STATE,1025,end apogee,CONTROL_FINISHED_OK
$STATE,1025,begin climb
$GC,1028,1.83,97.8,98.1,0.0,97,1110,2.25,0.00,76.07,0.651,6,0.060,0.000,3302,2137,2803
$GC,1297,1.83,97.8,81.0,8.2,119,1301,0.00,2.58,0.00,0.000,4,0.000,0.056,3302,3554,2805
$GC,1370,1.83,97.8,74.5,8.9,124,1374,0.00,2.42,0.00,0.000,6,0.000,0.035,3302,2163,2805
$GC,1567,1.84,103.8,59.1,7.4,139,1577,0.00,0.00,4.85,0.716,6,0.000,0.000,3302,2163,2778
$GC,1767,1.84,103.8,43.0,8.2,155,1768,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,2163,2779
$GC,1959,1.84,103.8,28.0,7.9,170,1963,0.00,2.53,0.00,0.000,4,0.000,0.056,3302,3555,2779
$GC,2220,1.92,170.2,16.5,2.7,198,2276,0.00,2.45,50.62,0.626,6,0.000,0.035,3302,2141,2508
$GC,2342,1.93,178.2,9.8,7.3,217,2354,0.00,0.00,5.90,0.679,6,0.000,0.000,3302,2141,2475
$STATE,2391,end climb,SURFACE_DEPTH_REACHED
$STATE,2391,begin surface coast
$FINISH,-0.1,1.022911
$STATE,2444,end surface coast,CONTROL_FINISHED_OK
$STATE,2444,begin surface
$SM_CCo,2475,145.18,0.575,0,0,1162,500.17
$SM_GC,0.37,0.00,0.00,145.18,0.000,0.000,0.575,412,2204,1162,-11.44,0.11,500.17
$IRIDIUM_FIX,4729.30,-12249.89,081007,030326
$TT8_MAMPS,0.071331
$HUMID,2145
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,20.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.5,999.0
$24V_AH,23.6,50.904
$10V_AH,10.0,34.165
$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,30.275,20.200,213.175,145.175,0.000,101.323,82.490,829.226,0.250,0.000,4153.000,14.469,416.806,1421.617,476.426,419.917,1219.913,33.342,731.489,0.000,392.943,0.000,2.491
$DEVICE_MAMPS,200.187,107.380,715.611,575.250,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,164.936,0.000,0.000,0.000,0.000,0.000,0.000,4153.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6479,233
$CFSIZE,260231168,245714944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081007,002845,4745.051,-12250.014,10,1.6,10,18.3