version: 66.02
glider: 117
mission: 4
dive: 416
start: 10 9 107 6 53 27
data:
$ID,117
$MISSION,4
$DIVE,416
$D_SURF,5
$D_FLARE,2
$D_TGT,35
$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,10
$T_MISSION,20
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$USE_BATHY,-2
$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,30
$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,-27013.939
$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,31
$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
$GPS1,064315,4744.739,-12250.134,9,1.8,9,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-57.3
$GPS2,065221,4744.693,-12250.152,12,1.6,12,18.3
$SPEED_LIMITS,0.202,0.274
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.128,0.242
$KALMAN_X,34868.7,-514.8,-174.2,-31004.9,8.8
$KALMAN_Y,27064.8,-651.8,-276.3,-17051.3,2.8
$MHEAD_RNG_PITCHd_Wd,9.6,839,-20.7,-11.667
$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,-1.77,-146.6,0.0,0.0,0,162,0.00,0.00,-127.45,0.000,2,0.000,0.000,409,2205,3372
$GC,166,-1.77,-146.6,2.2,-3.9,21,191,13.43,0.00,-9.35,0.000,6,0.202,0.000,2506,2206,3802
$GC,258,-1.77,-146.6,17.4,-11.3,35,263,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2205,3804
$GC,334,-1.77,-146.6,27.0,-12.3,43,335,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2206,3805
$STATE,407,end dive,TARGET_DEPTH_EXCEEDED
$STATE,407,begin apogee
$GC,415,-0.38,0.0,36.3,12.6,49,533,1.55,0.00,113.50,0.611,6,0.104,0.000,2810,2136,3202
$STATE,534,end apogee,CONTROL_FINISHED_OK
$STATE,534,begin climb
$GC,537,1.77,146.6,40.9,0.0,59,658,2.22,2.65,112.15,0.599,4,0.061,0.059,3292,3549,2603
$GC,694,1.81,179.0,33.3,9.9,71,725,0.00,2.45,24.50,0.602,6,0.000,0.035,3292,2156,2472
$GC,918,1.85,207.7,9.0,10.1,96,949,0.00,2.62,21.20,0.599,4,0.000,0.059,3292,3545,2355
$STATE,966,end climb,SURFACE_DEPTH_REACHED
$STATE,966,begin surface coast
$FINISH,-0.7,1.022355
$STATE,1019,end surface coast,CONTROL_FINISHED_OK
$STATE,1019,begin surface
$SM_CCo,1053,131.15,0.555,0,0,1163,500.17
$SM_GC,0.06,0.00,0.00,131.15,0.000,0.000,0.555,411,2195,1163,-11.45,-0.14,500.17
$IRIDIUM_FIX,4729.30,-12252.58,091007,101046
$TT8_MAMPS,0.071331
$HUMID,2128
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,20.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,22.2,999.0
$24V_AH,23.7,54.802
$10V_AH,10.0,36.654
$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,30.450,10.175,271.350,131.150,0.000,64.393,35.501,235.421,0.500,0.000,1918.000,12.123,193.802,354.958,507.265,207.869,495.126,33.327,670.946,0.000,192.998,0.000,2.474
$DEVICE_MAMPS,202.488,85.904,611.299,555.308,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,78.778,0.000,0.000,0.000,0.000,0.000,0.000,1918.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,3306,112
$CFSIZE,260231168,244715520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,091007,071403,4744.763,-12250.110,13,2.0,13,18.3