version: 66.02
glider: 117
mission: 4
dive: 388
start: 10 8 107 9 59 35
data:
$ID,117
$MISSION,4
$DIVE,388
$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,-26177.209
$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,43
$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
$GPS1,094644,4745.127,-12249.638,10,1.8,15,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-57.2
$GPS2,095835,4745.109,-12249.697,13,2.9,32,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.157,-0.064
$KALMAN_X,36669.4,-134.4,-75.8,-32716.2,-29.3
$KALMAN_Y,28907.9,-203.4,-18.5,-18832.7,5.2
$MHEAD_RNG_PITCHd_Wd,229.6,153,-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,-122.28,0.000,2,0.000,0.000,409,2219,3288
$GC,157,-1.83,-97.8,2.2,-5.1,20,183,13.18,2.72,-7.28,0.000,4,0.198,0.075,2493,803,3604
$GC,355,-1.83,-97.8,30.9,-11.3,44,359,0.00,2.45,0.00,0.000,6,0.000,0.037,2493,2186,3606
$GC,551,-1.83,-97.8,53.0,-11.1,59,552,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2186,3606
$GC,742,-1.83,-97.8,73.9,-11.2,74,747,0.00,2.58,0.00,0.000,4,0.000,0.060,2492,3607,3606
$GC,775,-1.83,-97.8,77.9,-11.4,76,780,0.00,2.45,0.00,0.000,6,0.000,0.036,2492,2193,3606
$STATE,930,end dive,TARGET_DEPTH_EXCEEDED
$STATE,931,begin apogee
$GC,941,-0.38,0.0,95.4,10.8,88,1022,1.60,0.00,77.05,0.667,6,0.108,0.000,2811,2132,3202
$STATE,1023,end apogee,CONTROL_FINISHED_OK
$STATE,1023,begin climb
$GC,1026,1.83,97.8,98.4,0.0,95,1111,2.25,0.00,75.90,0.650,6,0.061,0.000,3302,2132,2803
$GC,1301,1.83,97.8,81.7,8.1,117,1305,0.00,2.60,0.00,0.000,4,0.000,0.058,3302,3553,2801
$GC,1485,1.83,100.0,66.0,7.7,130,1492,0.00,2.42,0.00,0.000,6,0.000,0.035,3302,2157,2801
$GC,1683,1.83,100.0,50.9,8.1,146,1688,0.00,2.55,0.00,0.000,4,0.000,0.058,3302,3554,2801
$GC,1836,1.83,100.0,38.2,8.1,157,1840,0.00,2.42,0.00,0.000,6,0.000,0.036,3302,2150,2801
$GC,2038,1.85,111.2,23.1,7.0,173,2055,0.00,2.62,9.80,0.683,4,0.000,0.057,3302,3550,2748
$GC,2090,1.85,114.2,19.2,7.7,177,2098,0.00,2.45,2.25,0.753,6,0.000,0.035,3302,2145,2736
$GC,2167,1.89,144.0,14.8,5.6,188,2198,0.00,2.62,22.70,0.641,4,0.000,0.055,3302,3549,2614
$STATE,2321,end climb,SURFACE_DEPTH_REACHED
$STATE,2321,begin surface coast
$FINISH,0.4,1.022870
$STATE,2387,end surface coast,CONTROL_FINISHED_OK
$STATE,2387,begin surface
$SM_CCo,2421,161.23,0.577,0,0,1163,500.17
$SM_GC,0.24,0.00,0.00,161.23,0.000,0.000,0.577,406,2192,1163,-11.47,-0.17,500.17
$IRIDIUM_FIX,4726.11,-12252.58,081007,121220
$TT8_MAMPS,0.070564
$HUMID,2162
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,71.0,999.0
$24V_AH,23.6,51.922
$10V_AH,10.1,34.959
$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,30.225,30.325,187.700,161.225,0.000,60.691,44.040,367.666,0.500,4.150,3440.850,33.530,410.710,1316.428,470.163,451.309,665.314,33.335,732.838,0.000,405.697,0.000,2.489
$DEVICE_MAMPS,197.886,111.215,753.194,576.784,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,157.202,0.000,0.000,0.000,0.000,0.000,0.000,3445.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6475,222
$CFSIZE,260231168,245424128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,081007,104347,4744.982,-12249.975,11,3.2,30,18.3