version: 66.02
glider: 117
mission: 4
dive: 384
start: 10 8 107 5 50 59
data:
$ID,117
$MISSION,4
$DIVE,384
$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,-26075.549
$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,27
$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
$GPS1,052903,4745.093,-12249.754,14,1.3,14,18.3
$_CALLS,5
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-55.5
$GPS2,055001,4745.035,-12249.847,31,0.9,47,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.111,0.129
$KALMAN_X,37095.1,-97.7,-70.7,-33370.4,-80.3
$KALMAN_Y,29252.6,-99.4,-119.6,-19315.0,-46.1
$MHEAD_RNG_PITCHd_Wd,22.3,102,-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,27,begin dive
$GC,30,-1.79,-68.1,0.0,0.0,0,154,0.00,0.00,-121.07,0.000,2,0.000,0.000,410,2203,3251
$GC,158,-1.83,-97.8,2.2,-5.2,20,189,13.25,2.58,-8.27,0.000,4,0.199,0.070,2496,3593,3604
$GC,439,-1.83,-97.8,40.1,-11.3,50,446,0.00,2.40,0.00,0.000,6,0.000,0.035,2495,2202,3605
$GC,638,-1.83,-97.8,61.4,-10.7,66,642,0.00,2.55,0.00,0.000,4,0.000,0.057,2495,3605,3605
$GC,716,-1.83,-97.8,70.9,-11.9,71,722,0.00,2.45,0.00,0.000,6,0.000,0.035,2495,2190,3605
$GC,912,-1.83,-97.8,92.5,-11.0,87,913,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2190,3605
$STATE,934,end dive,TARGET_DEPTH_EXCEEDED
$STATE,934,begin apogee
$GC,942,-0.38,0.0,95.2,10.8,89,1023,1.60,0.00,76.60,0.670,6,0.108,0.000,2809,2136,3202
$STATE,1024,end apogee,CONTROL_FINISHED_OK
$STATE,1024,begin climb
$GC,1028,1.83,97.8,97.9,0.0,96,1109,2.25,0.00,75.97,0.653,6,0.061,0.000,3301,2136,2803
$GC,1296,1.83,97.8,82.0,8.0,118,1301,0.00,2.60,0.00,0.000,4,0.000,0.057,3301,3558,2803
$GC,1374,1.83,97.8,75.4,8.4,123,1381,0.00,2.42,0.00,0.000,6,0.000,0.035,3301,2164,2803
$GC,1572,1.83,101.0,59.7,7.7,139,1576,0.00,0.00,2.22,0.779,6,0.000,0.000,3301,2164,2790
$GC,1761,1.84,104.6,45.2,7.6,154,1772,0.00,2.58,2.62,0.769,4,0.000,0.056,3301,3553,2775
$GC,1818,1.84,104.6,40.5,8.3,158,1825,0.00,2.45,0.00,0.000,6,0.000,0.035,3300,2146,2776
$GC,2015,1.84,105.2,25.0,7.9,174,2019,0.00,2.55,0.00,0.000,4,0.000,0.056,3301,3551,2776
$GC,2272,1.92,170.2,9.9,2.9,208,2327,0.00,2.45,49.95,0.627,6,0.000,0.035,3301,2139,2508
$STATE,2370,end climb,SURFACE_DEPTH_REACHED
$STATE,2371,begin surface coast
$FINISH,-0.4,1.022902
$STATE,2464,end surface coast,CONTROL_FINISHED_OK
$STATE,2464,begin surface
$SM_CCo,2493,210.52,0.570,0,0,746,602.46
$SM_GC,0.21,0.00,0.00,210.52,0.000,0.000,0.570,411,2224,746,-11.44,0.68,602.46
$IRIDIUM_FIX,4726.11,-12252.58,081007,090938
$TT8_MAMPS,0.070564
$HUMID,2143
$INTERNAL_PRESSURE,7.89093
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.1,999.0
$24V_AH,23.6,51.508
$10V_AH,10.0,34.640
$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,30.275,25.150,207.375,210.525,0.000,175.504,345.213,294.097,0.250,0.000,4076.000,49.404,421.886,1523.548,544.888,474.090,1014.839,33.333,808.102,0.000,414.380,0.000,2.488
$DEVICE_MAMPS,199.420,184.847,778.505,569.881,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,168.366,0.000,0.000,0.000,0.000,0.000,0.000,4076.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6438,238
$CFSIZE,260231168,245526528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,081007,063651,4745.133,-12249.700,11,1.4,11,18.3