version: 66.02
glider: 117
mission: 4
dive: 382
start: 10 8 107 3 44 21
data:
$ID,117
$MISSION,4
$DIVE,382
$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,-25996.307
$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,32
$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
$GPS1,033408,4745.197,-12250.029,38,1.3,38,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.21
$_SM_ANGLEo,-57.5
$GPS2,034320,4745.174,-12250.068,10,1.3,15,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.164,-0.043
$KALMAN_X,37442.7,-85.4,-21.5,-34057.7,-68.8
$KALMAN_Y,29525.1,-27.8,-113.5,-19410.5,-62.4
$MHEAD_RNG_PITCHd_Wd,86.5,355,-22.2,-7.917
$D_GRID,173
$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,-122.38,0.000,2,0.000,0.000,409,2187,3300
$GC,157,-1.83,-97.8,2.3,-5.1,20,183,13.27,2.62,-6.75,0.000,4,0.201,0.069,2496,3588,3605
$GC,434,-1.83,-97.8,42.2,-12.0,49,439,0.00,2.40,0.00,0.000,6,0.000,0.036,2496,2204,3606
$GC,630,-1.83,-97.8,64.0,-11.0,64,634,0.00,2.50,0.00,0.000,4,0.000,0.057,2496,3591,3607
$GC,747,-1.83,-97.8,76.9,-11.5,72,751,0.00,2.42,0.00,0.000,6,0.000,0.035,2495,2192,3606
$STATE,917,end dive,TARGET_DEPTH_EXCEEDED
$STATE,917,begin apogee
$GC,924,-0.38,0.0,96.3,11.3,85,1006,1.60,0.00,77.03,0.669,6,0.110,0.000,2814,2133,3202
$STATE,1007,end apogee,CONTROL_FINISHED_OK
$STATE,1007,begin climb
$GC,1010,1.83,97.8,99.4,0.0,92,1096,2.22,2.62,76.03,0.650,4,0.061,0.064,3301,765,2802
$GC,1168,1.83,97.8,92.3,8.3,104,1175,0.00,2.42,0.00,0.000,6,0.000,0.035,3301,2142,2802
$GC,1365,1.83,100.6,76.9,7.7,120,1372,0.00,2.65,1.73,0.792,4,0.000,0.061,3301,3553,2792
$GC,1576,1.83,100.6,58.7,8.4,135,1583,0.00,2.42,0.00,0.000,6,0.000,0.036,3301,2161,2792
$GC,1772,1.83,100.6,43.0,7.9,151,1777,0.00,2.53,0.00,0.000,4,0.000,0.057,3301,3554,2792
$GC,1819,1.83,100.6,39.2,7.9,154,1823,0.00,2.45,0.00,0.000,6,0.000,0.036,3301,2142,2792
$GC,2015,1.83,101.7,24.0,7.8,169,2019,0.00,2.60,0.00,0.000,4,0.000,0.066,3301,750,2792
$GC,2130,1.90,156.9,18.3,3.6,180,2180,0.00,2.47,43.10,0.630,6,0.000,0.035,3301,2158,2562
$GC,2247,1.90,156.9,10.9,8.0,198,2253,0.00,2.65,0.00,0.000,4,0.000,0.063,3301,752,2561
$GC,2266,1.90,156.9,9.3,8.4,201,2273,0.00,2.47,0.00,0.000,6,0.000,0.035,3301,2157,2561
$STATE,2323,end climb,SURFACE_DEPTH_REACHED
$STATE,2323,begin surface coast
$FINISH,-0.5,1.022804
$STATE,2396,end surface coast,CONTROL_FINISHED_OK
$STATE,2396,begin surface
$SM_CCo,2427,154.80,0.580,0,0,1163,500.17
$SM_GC,0.28,0.00,0.00,154.80,0.000,0.000,0.580,409,2156,1163,-11.46,-1.24,500.17
$IRIDIUM_FIX,4729.30,-12252.58,081007,060650
$TT8_MAMPS,0.073632
$HUMID,2151
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.2,999.0
$24V_AH,23.6,51.292
$10V_AH,10.0,34.474
$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,30.275,35.300,197.875,154.800,0.000,63.400,34.609,237.577,0.500,0.000,3323.000,15.716,412.013,1283.126,469.355,461.210,528.617,33.332,750.801,0.000,430.916,0.000,2.489
$DEVICE_MAMPS,200.954,109.681,791.544,579.852,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,156.516,0.000,0.000,0.000,0.000,0.000,0.000,3323.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6471,221
$CFSIZE,260231168,245596160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,081007,042828,4745.059,-12249.876,7,3.0,26,18.3