version: 66.02
glider: 117
mission: 4
dive: 349
start: 10 6 107 19 20 33
data:
$ID,117
$MISSION,4
$DIVE,349
$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,-25120.764
$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,28
$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
$GPS1,190951,4745.077,-12249.804,13,1.8,13,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.40
$_SM_ANGLEo,-55.1
$GPS2,191932,4745.221,-12249.702,16,1.7,16,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.100,-0.174
$KALMAN_X,37823.9,71.3,41.8,-34204.7,110.8
$KALMAN_Y,21757.9,101.0,153.8,-11957.7,188.4
$MHEAD_RNG_PITCHd_Wd,191.6,287,-18.4,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-1.54,-97.8,0.0,0.0,0,115,0.00,0.00,-84.18,0.000,2,0.000,0.000,408,2204,3151
$GC,118,-1.54,-97.8,2.2,-5.3,14,150,13.50,2.60,-12.27,0.000,4,0.196,0.071,2562,3595,3603
$GC,186,-1.54,-97.8,9.4,-10.4,24,192,0.00,2.42,0.00,0.000,6,0.000,0.035,2562,2196,3605
$GC,258,-1.54,-97.8,15.4,-8.0,35,264,0.00,2.60,0.00,0.000,4,0.000,0.066,2562,802,3605
$GC,284,-1.54,-97.8,17.8,-8.8,39,290,0.00,2.45,0.00,0.000,6,0.000,0.036,2562,2201,3606
$GC,355,-1.54,-97.8,23.9,-8.8,47,356,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2201,3606
$GC,547,-1.54,-97.8,41.0,-9.2,62,548,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2201,3606
$GC,737,-1.54,-97.8,57.8,-8.8,77,738,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2201,3606
$GC,925,-1.54,-97.8,74.4,-8.9,92,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2201,3606
$GC,1114,-1.54,-97.8,91.1,-8.6,107,1118,0.00,2.53,0.00,0.000,4,0.000,0.059,2562,3596,3606
$GC,1146,-1.54,-97.8,94.4,-9.8,109,1151,0.00,2.42,0.00,0.000,6,0.000,0.035,2562,2194,3605
$STATE,1163,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1163,begin apogee
$GC,1170,-0.38,0.0,96.1,9.2,110,1252,1.25,0.00,77.90,0.671,6,0.104,0.000,2809,2133,3201
$STATE,1253,end apogee,CONTROL_FINISHED_OK
$STATE,1253,begin climb
$GC,1256,1.54,97.8,98.8,0.0,117,1341,2.00,2.62,76.40,0.650,4,0.064,0.055,3238,3547,2803
$GC,1386,1.56,118.3,94.1,6.8,127,1409,0.00,2.42,15.65,0.671,6,0.000,0.035,3238,2162,2719
$GC,1607,1.56,119.4,77.3,7.9,145,1612,0.00,2.53,0.00,0.000,4,0.000,0.056,3238,3546,2717
$GC,1693,1.56,119.4,69.9,8.4,151,1697,0.00,2.42,0.00,0.000,6,0.000,0.036,3238,2149,2717
$GC,1896,1.56,119.4,53.8,8.1,167,1897,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,2149,2717
$GC,2087,1.56,119.4,38.9,8.0,182,2091,0.00,2.55,0.00,0.000,4,0.000,0.058,3238,3547,2717
$GC,2133,1.56,119.4,35.0,8.3,185,2138,0.00,2.45,0.00,0.000,6,0.000,0.036,3238,2141,2717
$GC,2329,1.58,128.9,20.0,7.4,200,2343,0.00,2.60,7.78,0.694,4,0.000,0.057,3238,3549,2675
$GC,2429,1.58,128.9,11.3,8.9,214,2435,0.00,2.42,0.00,0.000,6,0.000,0.036,3238,2151,2675
$GC,2501,1.58,128.9,5.6,8.3,225,2507,0.00,2.62,0.00,0.000,4,0.000,0.067,3238,750,2675
$STATE,2511,end climb,SURFACE_DEPTH_REACHED
$STATE,2512,begin surface coast
$FINISH,0.6,1.022722
$STATE,2585,end surface coast,CONTROL_FINISHED_OK
$STATE,2585,begin surface
$SM_CCo,2615,145.65,0.581,0,0,1366,450.13
$SM_GC,0.47,0.00,0.00,145.65,0.000,0.000,0.581,411,2200,1366,-11.45,0.00,450.13
$IRIDIUM_FIX,7727.85,-8210.25,061007,222212
$TT8_MAMPS,0.075166
$HUMID,2160
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,71.0,999.0
$24V_AH,23.6,48.224
$10V_AH,10.0,31.982
$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,29.525,40.300,177.725,145.650,0.000,66.104,34.693,257.816,0.250,0.000,3445.000,16.055,452.849,1486.962,434.960,431.923,556.505,33.349,697.290,0.000,402.202,0.000,2.490
$DEVICE_MAMPS,195.585,109.681,694.135,580.619,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,168.641,0.000,0.000,0.000,0.000,0.000,0.000,3445.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6464,238
$CFSIZE,260231168,246661120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,061007,200737,4745.124,-12249.820,10,1.8,26,18.3