version: 66.02
glider: 117
mission: 4
dive: 381
start: 10 8 107 2 48 32
data:
$ID,117
$MISSION,4
$DIVE,381
$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,602.45679
$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,-25979.961
$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,30
$R_STBD_OVSHOOT,40
$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
$GPS1,023209,4745.180,-12249.664,12,1.7,12,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.28
$_SM_ANGLEo,-60.8
$GPS2,024733,4745.106,-12249.746,14,1.8,14,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.140,0.097
$KALMAN_X,37508.3,-98.5,-6.9,-33720.7,-53.6
$KALMAN_Y,29588.9,-6.2,-97.1,-19636.7,-63.5
$MHEAD_RNG_PITCHd_Wd,286.4,94,-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,-68.1,0.0,0.0,0,129,0.00,0.00,-95.97,0.000,2,0.000,0.000,410,2216,3211
$GC,135,-1.83,-97.8,2.2,-5.2,16,166,13.23,2.53,-9.25,0.000,4,0.200,0.071,2492,3580,3604
$GC,417,-1.83,-97.8,39.5,-11.3,46,424,0.00,2.40,0.00,0.000,6,0.000,0.035,2492,2196,3605
$GC,614,-1.83,-97.8,61.5,-11.2,62,615,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2196,3605
$GC,805,-1.83,-97.8,82.6,-11.2,77,806,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2196,3605
$STATE,913,end dive,TARGET_DEPTH_EXCEEDED
$STATE,913,begin apogee
$GC,921,-0.38,0.0,95.4,11.2,86,1003,1.62,0.00,77.07,0.670,6,0.108,0.000,2810,2137,3202
$STATE,1004,end apogee,CONTROL_FINISHED_OK
$STATE,1004,begin climb
$GC,1007,1.83,97.8,98.5,0.0,93,1092,2.28,2.60,76.03,0.653,4,0.060,0.056,3307,3537,2802
$GC,1172,1.83,97.8,90.3,8.4,106,1176,0.00,2.40,0.00,0.000,6,0.000,0.035,3307,2161,2803
$GC,1368,1.83,97.8,74.2,8.3,121,1369,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,2161,2801
$GC,1562,1.83,98.4,59.0,7.9,136,1567,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,2161,2800
$GC,1761,1.83,101.4,43.3,7.7,152,1769,0.00,0.00,2.25,0.775,6,0.000,0.000,3307,2161,2788
$GC,1959,1.85,110.7,27.9,7.2,168,1972,0.00,2.53,7.12,0.700,4,0.000,0.057,3307,3537,2750
$GC,2224,1.92,172.9,13.0,3.1,200,2279,0.00,2.42,47.50,0.624,6,0.000,0.035,3307,2140,2497
$GC,2345,1.93,179.0,6.0,7.4,219,2358,0.00,2.58,4.53,0.690,4,0.000,0.056,3307,3528,2472
$STATE,2362,end climb,SURFACE_DEPTH_REACHED
$STATE,2362,begin surface coast
$FINISH,-0.4,1.022880
$STATE,2422,end surface coast,CONTROL_FINISHED_OK
$STATE,2422,begin surface
$SM_CCo,2453,207.20,0.571,0,0,746,602.46
$SM_GC,0.21,0.00,0.00,207.20,0.000,0.000,0.571,409,2186,746,-11.46,-0.37,602.46
$IRIDIUM_FIX,4729.30,-12249.89,081007,060648
$TT8_MAMPS,0.071331
$HUMID,2125
$INTERNAL_PRESSURE,7.89093
$TCM_TEMP,20.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,71.4,999.0
$24V_AH,23.5,51.206
$10V_AH,10.1,34.402
$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,30.475,19.850,214.500,207.200,0.000,179.660,360.725,0.000,0.500,0.000,3643.000,14.393,415.778,1525.598,522.330,416.155,723.173,33.339,778.717,0.000,401.922,0.000,2.488
$DEVICE_MAMPS,200.187,109.681,775.437,571.415,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,163.527,0.000,0.000,0.000,0.000,0.000,0.000,3643.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6419,231
$CFSIZE,260231168,245616640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,081007,033408,4745.197,-12250.029,38,1.3,38,18.3