version: 66.02
glider: 117
mission: 4
dive: 383
start: 10 8 107 4 44 4
data:
$ID,117
$MISSION,4
$DIVE,383
$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,-26025.516
$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,33
$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
$GPS1,042828,4745.059,-12249.876,7,3.0,26,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.28
$_SM_ANGLEo,-60.3
$GPS2,044307,4745.014,-12249.983,12,1.4,28,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.139,0.097
$KALMAN_X,37241.5,-102.0,-60.2,-33691.0,-61.1
$KALMAN_Y,29399.1,-63.3,-125.9,-19530.5,-55.8
$MHEAD_RNG_PITCHd_Wd,36.8,248,-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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,31,-1.79,-68.1,0.0,0.0,0,130,0.00,0.00,-95.97,0.000,2,0.000,0.000,409,2157,3220
$GC,136,-1.83,-97.8,2.2,-5.0,16,167,13.18,2.67,-8.93,0.000,4,0.199,0.070,2494,3597,3604
$GC,280,-1.83,-97.8,23.4,-13.1,37,284,0.00,2.42,0.00,0.000,6,0.000,0.035,2494,2200,3606
$GC,476,-1.83,-97.8,44.6,-10.7,52,477,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2200,3606
$GC,670,-1.83,-97.8,65.7,-11.0,67,674,0.00,2.53,0.00,0.000,4,0.000,0.057,2494,3595,3606
$GC,711,-1.83,-97.8,70.7,-12.0,69,717,0.00,2.40,0.00,0.000,6,0.000,0.035,2494,2202,3606
$GC,907,-1.83,-97.8,92.9,-11.1,85,908,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2202,3606
$STATE,930,end dive,TARGET_DEPTH_EXCEEDED
$STATE,930,begin apogee
$GC,938,-0.38,0.0,95.7,11.2,87,1020,1.60,0.00,77.50,0.673,6,0.110,0.000,2811,2128,3202
$STATE,1021,end apogee,CONTROL_FINISHED_OK
$STATE,1021,begin climb
$GC,1024,1.83,97.8,99.0,0.0,94,1109,2.25,2.62,76.43,0.652,4,0.060,0.064,3302,761,2802
$GC,1162,1.83,97.8,93.0,8.0,105,1166,0.00,2.45,0.00,0.000,6,0.000,0.035,3302,2150,2802
$GC,1358,1.83,98.4,77.4,7.9,120,1363,0.00,2.55,0.00,0.000,4,0.000,0.061,3302,3544,2801
$GC,1418,1.83,98.4,72.3,8.5,124,1422,0.00,2.42,0.00,0.000,6,0.000,0.035,3302,2152,2801
$GC,1614,1.84,105.2,57.7,7.4,139,1627,0.00,2.55,5.50,0.719,4,0.000,0.057,3302,3544,2772
$GC,1680,1.84,105.2,52.1,8.8,144,1684,0.00,2.45,0.00,0.000,6,0.000,0.036,3302,2141,2771
$GC,1876,1.84,105.2,35.8,8.2,159,1880,0.00,2.55,0.00,0.000,4,0.000,0.056,3302,3545,2771
$GC,2009,1.84,105.2,24.3,8.7,168,2016,0.00,2.42,0.00,0.000,6,0.000,0.035,3302,2145,2771
$GC,2212,1.91,162.6,13.6,3.4,195,2261,0.00,2.72,43.75,0.627,4,0.000,0.065,3302,754,2539
$STATE,2338,end climb,SURFACE_DEPTH_REACHED
$STATE,2338,begin surface coast
$FINISH,-0.4,1.022779
$STATE,2402,end surface coast,CONTROL_FINISHED_OK
$STATE,2402,begin surface
$SM_CCo,2433,214.40,0.573,0,0,746,602.46
$SM_GC,0.17,0.00,0.00,214.40,0.000,0.000,0.573,409,2202,746,-11.46,0.06,602.46
$IRIDIUM_FIX,4729.30,-12252.58,081007,080810
$TT8_MAMPS,0.069797
$HUMID,2145
$INTERNAL_PRESSURE,7.90069
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.7,999.0
$24V_AH,23.6,51.390
$10V_AH,10.0,34.551
$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,30.175,35.450,203.175,214.400,0.000,180.260,300.675,0.000,0.250,0.000,3588.000,28.583,416.117,1506.520,527.505,424.505,668.014,33.335,780.340,0.000,392.161,0.000,2.489
$DEVICE_MAMPS,198.653,83.603,718.679,572.949,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,158.594,0.000,0.000,0.000,0.000,0.000,0.000,3588.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6447,224
$CFSIZE,260231168,245559296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,081007,052903,4745.093,-12249.754,14,1.3,14,18.3