version: 66.02
glider: 117
mission: 4
dive: 392
start: 10 8 107 14 10 4
data:
$ID,117
$MISSION,4
$DIVE,392
$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,-26313.127
$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,38
$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
$GPS1,135903,4744.992,-12249.793,14,2.0,14,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-56.9
$GPS2,140907,4744.984,-12249.802,16,1.8,26,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.031,0.167
$KALMAN_X,36278.6,-148.6,-12.2,-32506.8,-55.1
$KALMAN_Y,28612.1,-191.2,5.8,-18806.0,-14.8
$MHEAD_RNG_PITCHd_Wd,352.2,189,-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,-68.1,0.0,0.0,0,157,0.00,0.00,-122.53,0.000,2,0.000,0.000,409,2204,3264
$GC,160,-1.83,-97.8,2.1,-4.9,20,192,13.25,2.67,-7.97,0.000,4,0.200,0.076,2494,804,3603
$GC,251,-1.83,-97.8,16.8,-14.0,34,257,0.00,2.45,0.00,0.000,6,0.000,0.037,2494,2197,3604
$GC,322,-1.83,-97.8,25.1,-11.6,42,323,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2197,3605
$GC,514,-1.83,-97.8,46.5,-11.1,57,515,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2197,3604
$GC,705,-1.83,-97.8,67.7,-11.2,72,709,0.00,2.55,0.00,0.000,4,0.000,0.060,2494,3602,3605
$GC,757,-1.83,-97.8,74.5,-12.0,75,763,0.00,2.42,0.00,0.000,6,0.000,0.035,2494,2201,3604
$STATE,952,end dive,TARGET_DEPTH_EXCEEDED
$STATE,952,begin apogee
$GC,960,-0.38,0.0,96.4,10.6,91,1041,1.60,0.00,76.72,0.668,6,0.108,0.000,2813,2138,3202
$STATE,1042,end apogee,CONTROL_FINISHED_OK
$STATE,1042,begin climb
$GC,1046,1.83,97.8,99.3,0.0,98,1130,2.22,0.00,75.72,0.647,6,0.059,0.000,3305,2138,2803
$GC,1321,1.83,99.2,83.6,7.8,120,1325,0.00,2.58,0.00,0.000,4,0.000,0.057,3303,3551,2801
$GC,1381,1.83,99.2,78.9,7.9,124,1385,0.00,2.42,0.00,0.000,6,0.000,0.035,3303,2161,2801
$GC,1577,1.84,107.0,64.6,7.3,139,1590,0.00,2.55,7.03,0.709,4,0.000,0.057,3303,3546,2764
$GC,1699,1.84,107.0,54.6,8.3,148,1703,0.00,2.45,0.00,0.000,6,0.000,0.036,3303,2141,2763
$GC,1895,1.84,107.0,37.9,8.3,163,1896,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,2141,2763
$GC,2087,1.84,108.1,22.6,7.8,178,2088,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,2141,2763
$GC,2281,1.90,158.2,11.8,4.0,205,2329,0.00,2.65,38.67,0.630,4,0.000,0.057,3303,3546,2557
$STATE,2393,end climb,SURFACE_DEPTH_REACHED
$STATE,2393,begin surface coast
$FINISH,-0.4,1.022925
$STATE,2479,end surface coast,CONTROL_FINISHED_OK
$STATE,2479,begin surface
$SM_CCo,2510,153.48,0.577,0,0,1162,500.17
$SM_GC,0.30,0.00,0.00,153.48,0.000,0.000,0.577,412,2193,1162,-11.44,-0.17,500.17
$IRIDIUM_FIX,4726.11,-12248.15,081007,171754
$TT8_MAMPS,0.073632
$HUMID,2169
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,20.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.6,999.0
$24V_AH,23.7,52.340
$10V_AH,10.0,35.286
$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,30.325,25.175,198.150,153.475,0.000,60.224,32.267,281.775,0.500,0.000,3425.000,26.473,421.405,1387.134,470.421,438.162,567.596,33.335,735.355,0.000,399.590,0.000,2.489
$DEVICE_MAMPS,200.187,110.448,708.708,576.784,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,167.045,0.000,0.000,0.000,0.000,0.000,0.000,3425.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6448,236
$CFSIZE,260231168,245305344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,081007,145515,4745.199,-12249.784,9,1.4,9,18.3