version: 66.02
glider: 117
mission: 4
dive: 440
start: 10 10 107 1 50 56
data:
$ID,117
$MISSION,4
$DIVE,440
$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,40
$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,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,-27664.248
$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,27
$R_STBD_OVSHOOT,32
$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
$GPS1,013417,4745.161,-12249.760,10,2.1,29,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.14
$_SM_ANGLEo,-54.4
$GPS2,014957,4745.267,-12249.740,13,1.8,13,18.3
$SPEED_LIMITS,0.192,0.269
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.093,-0.253
$KALMAN_X,34287.9,26.5,29.6,-30658.1,26.0
$KALMAN_Y,26726.2,330.8,207.4,-17124.6,21.4
$MHEAD_RNG_PITCHd_Wd,181.9,348,-19.9,-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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,32,-1.71,-146.6,0.0,0.0,0,163,0.00,0.00,-127.53,0.000,2,0.000,0.000,401,2198,3332
$GC,167,-1.71,-146.6,2.5,-6.1,21,197,13.65,0.00,-10.07,0.000,6,0.206,0.000,2522,2198,3803
$GC,264,-1.71,-146.6,17.4,-11.9,36,270,0.00,2.62,0.00,0.000,4,0.000,0.067,2522,801,3805
$GC,285,-1.71,-146.6,19.8,-12.1,39,291,0.00,2.45,0.00,0.000,6,0.000,0.036,2522,2200,3805
$GC,355,-1.71,-146.6,28.2,-11.7,45,356,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2200,3805
$GC,547,-1.71,-146.6,49.8,-11.4,60,549,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2200,3805
$STATE,555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,555,begin apogee
$GC,564,-0.38,0.0,51.3,11.3,61,682,1.48,0.00,114.05,0.630,6,0.106,0.000,2811,2127,3202
$STATE,686,end apogee,CONTROL_FINISHED_OK
$STATE,686,begin climb
$GC,689,1.71,146.6,55.7,0.0,71,808,2.15,0.00,112.70,0.613,6,0.061,0.000,3277,2127,2604
$GC,994,1.74,172.0,34.7,9.8,96,1017,0.00,0.00,19.30,0.624,6,0.000,0.000,3276,2127,2500
$GC,1211,1.75,179.5,11.6,10.7,119,1223,0.00,2.62,5.18,0.672,4,0.000,0.058,3277,3546,2470
$STATE,1283,end climb,SURFACE_DEPTH_REACHED
$STATE,1283,begin surface coast
$FINISH,-0.2,1.022400
$STATE,1341,end surface coast,CONTROL_FINISHED_OK
$STATE,1341,begin surface
$SM_CCo,1375,144.23,0.565,0,0,1162,500.17
$SM_GC,-0.11,0.00,0.00,144.23,0.000,0.000,0.565,408,2208,1162,-11.46,0.23,500.17
$IRIDIUM_FIX,4726.11,-12250.84,101007,050514
$TT8_MAMPS,0.071331
$HUMID,2136
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,20.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,25.3,999.0
$24V_AH,23.7,57.169
$10V_AH,10.0,38.194
$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,30.200,10.125,251.225,144.225,0.000,140.604,201.561,251.411,0.500,0.000,2646.000,13.382,246.286,706.826,514.461,240.135,772.176,33.328,684.793,0.000,219.473,0.000,2.482
$DEVICE_MAMPS,205.556,69.030,671.892,565.279,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,98.064,0.000,0.000,0.000,0.000,0.000,0.000,2646.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,3316,139
$CFSIZE,260231168,244051968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101007,021703,4745.177,-12249.776,9,2.0,9,18.3