version: 66.02
glider: 117
mission: 4
dive: 334
start: 10 6 107 5 0 8
data:
$ID,117
$MISSION,4
$DIVE,334
$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,450
$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,-24736.389
$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,33
$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
$GPS1,044709,4745.239,-12249.744,11,1.5,11,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.56
$_SM_ANGLEo,-61.9
$GPS2,045909,4745.197,-12249.751,15,1.6,15,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.061,-0.158
$KALMAN_X,37591.9,-58.0,-42.6,-33818.2,-27.5
$KALMAN_Y,20741.2,159.9,1.5,-10886.2,-72.0
$MHEAD_RNG_PITCHd_Wd,182.8,221,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-1.79,-68.1,0.0,0.0,0,103,0.00,0.00,-72.30,0.000,2,0.000,0.000,408,2191,2905
$GC,107,-1.83,-97.8,2.0,-4.6,12,150,13.18,2.58,-21.85,0.000,4,0.198,0.067,2494,3598,3603
$GC,401,-1.83,-97.8,35.6,-12.0,47,408,0.00,2.45,0.00,0.000,6,0.000,0.035,2494,2204,3605
$GC,597,-1.83,-97.8,57.5,-11.2,63,602,0.00,2.53,0.00,0.000,4,0.000,0.055,2494,3601,3605
$GC,728,-1.83,-97.8,73.1,-11.7,72,735,0.00,2.45,0.00,0.000,6,0.000,0.035,2494,2202,3604
$STATE,922,end dive,TARGET_DEPTH_EXCEEDED
$STATE,922,begin apogee
$GC,929,-0.38,0.0,95.6,11.6,88,1012,1.62,0.00,77.45,0.668,6,0.110,0.000,2812,2130,3202
$STATE,1013,end apogee,CONTROL_FINISHED_OK
$STATE,1013,begin climb
$GC,1016,1.83,97.8,98.7,0.0,95,1097,2.25,0.00,75.95,0.654,6,0.061,0.000,3301,2131,2803
$GC,1284,1.83,97.8,83.9,8.1,117,1288,0.00,2.58,0.00,0.000,4,0.000,0.054,3301,3550,2801
$GC,1396,1.83,97.8,74.3,8.3,125,1401,0.00,2.42,0.00,0.000,6,0.000,0.035,3301,2158,2801
$GC,1592,1.83,99.1,59.0,7.8,140,1593,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,2158,2802
$GC,1785,1.83,99.1,44.4,8.0,155,1789,0.00,2.53,0.00,0.000,4,0.000,0.055,3301,3549,2801
$GC,1871,1.83,99.1,37.2,8.3,161,1875,0.00,2.42,0.00,0.000,6,0.000,0.035,3301,2149,2801
$GC,2067,1.83,99.1,22.1,7.9,176,2071,0.00,2.53,0.00,0.000,4,0.000,0.056,3301,3546,2801
$GC,2219,1.86,119.4,10.9,6.3,196,2244,0.00,2.42,16.10,0.660,6,0.000,0.035,3301,2146,2714
$GC,2310,1.95,196.5,8.5,1.9,210,2377,0.10,0.00,59.67,0.611,6,0.070,0.000,3324,2146,2399
$STATE,2390,end climb,SURFACE_DEPTH_REACHED
$STATE,2390,begin surface coast
$FINISH,-0.2,1.022661
$STATE,2474,end surface coast,CONTROL_FINISHED_OK
$STATE,2474,begin surface
$SM_CCo,2504,113.40,0.577,0,0,1367,450.13
$SM_GC,0.46,0.00,0.00,113.40,0.000,0.000,0.577,411,2214,1367,-11.45,0.40,450.13
$IRIDIUM_FIX,4726.11,-12248.15,061007,080848
$TT8_MAMPS,0.072098
$HUMID,2166
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.1,999.0
$24V_AH,23.6,46.906
$10V_AH,10.1,30.878
$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,30.450,25.050,229.175,113.400,0.000,98.046,80.002,265.994,0.500,0.000,3469.000,15.744,426.762,1429.441,435.933,446.663,618.108,33.345,698.043,0.000,419.031,0.000,2.489
$DEVICE_MAMPS,197.886,84.370,668.057,576.784,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,166.786,0.000,0.000,0.000,0.000,0.000,0.000,3469.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6450,236
$CFSIZE,260231168,247128064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,054453,4745.021,-12249.911,10,3.3,29,18.3