version: 66.02
glider: 117
mission: 4
dive: 394
start: 10 8 107 16 6 15
data:
$ID,117
$MISSION,4
$DIVE,394
$D_SURF,5
$D_FLARE,2
$D_TGT,50
$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,15
$T_MISSION,30
$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,150
$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,-26337.666
$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,30
$R_STBD_OVSHOOT,39
$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
$GPS1,155535,4745.052,-12249.899,9,2.2,28,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.19
$_SM_ANGLEo,-55.4
$GPS2,160515,4745.052,-12249.900,9,1.5,9,18.3
$SPEED_LIMITS,0.238,0.269
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.191,0.143
$KALMAN_X,36170.7,-151.2,-15.2,-32515.7,1.3
$KALMAN_Y,28660.0,-128.0,1.1,-18789.7,-11.4
$MHEAD_RNG_PITCHd_Wd,34.9,123,-22.7,-11.111
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,31,-1.88,-113.0,0.0,0.0,0,156,0.00,0.00,-121.25,0.000,2,0.000,0.000,412,2218,3267
$GC,160,-1.92,-146.6,2.2,-5.3,20,191,13.12,2.72,-12.32,0.000,4,0.200,0.076,2472,805,3803
$GC,245,-1.92,-146.6,16.9,-15.7,33,251,0.00,2.45,0.00,0.000,6,0.000,0.037,2472,2197,3803
$GC,322,-1.92,-146.6,27.3,-13.8,41,326,0.00,2.55,0.00,0.000,4,0.000,0.059,2472,3602,3804
$GC,347,-1.92,-146.6,30.9,-13.8,42,354,0.00,2.42,0.00,0.000,6,0.000,0.035,2472,2204,3803
$STATE,490,end dive,TARGET_DEPTH_EXCEEDED
$STATE,490,begin apogee
$GC,498,-0.38,0.0,50.7,13.1,54,617,1.73,0.00,114.15,0.624,6,0.107,0.000,2809,2132,3202
$STATE,618,end apogee,CONTROL_FINISHED_OK
$STATE,618,begin climb
$GC,621,1.92,146.6,55.1,0.0,64,739,2.38,0.00,113.22,0.607,6,0.059,0.000,3324,2131,2604
$GC,926,1.92,147.7,31.3,11.0,89,930,0.00,2.58,0.00,0.000,4,0.000,0.057,3324,3547,2603
$GC,978,1.92,147.7,25.3,12.1,92,984,0.00,2.42,0.00,0.000,6,0.000,0.035,3325,2155,2603
$GC,1181,2.00,212.7,6.3,6.8,119,1200,0.00,0.00,17.00,0.621,2,0.000,0.000,3325,2155,2512
$STATE,1201,end climb,SURFACE_DEPTH_REACHED
$STATE,1201,begin surface coast
$FINISH,-0.5,1.022825
$STATE,1271,end surface coast,CONTROL_FINISHED_OK
$STATE,1271,begin surface
$SM_CCo,1300,148.35,0.563,0,0,1162,500.17
$SM_GC,0.22,0.00,0.00,148.35,0.000,0.000,0.563,409,2204,1162,-11.46,0.11,500.17
$IRIDIUM_FIX,4726.11,-12248.15,081007,191953
$TT8_MAMPS,0.072098
$HUMID,2148
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,25.6,999.0
$24V_AH,23.6,52.527
$10V_AH,10.0,35.413
$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,30.500,15.275,244.375,148.350,0.000,60.616,35.844,261.660,0.250,0.000,2220.000,12.280,238.707,543.816,506.345,241.591,518.213,33.336,679.829,0.000,223.131,0.000,2.482
$DEVICE_MAMPS,200.187,92.807,623.571,562.978,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,93.844,0.000,0.000,0.000,0.000,0.000,0.000,2220.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,3318,133
$CFSIZE,260231168,245264384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081007,163129,4745.106,-12249.770,7,2.8,26,18.3