version: 66.02
glider: 117
mission: 4
dive: 350
start: 10 6 107 20 18 13
data:
$ID,117
$MISSION,4
$DIVE,350
$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,-25153.439
$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
$GPS1,200737,4745.124,-12249.820,10,1.8,26,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.38
$_SM_ANGLEo,-53.3
$GPS2,201714,4745.275,-12249.731,15,2.0,32,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.081,-0.184
$KALMAN_X,37964.1,105.5,60.5,-34433.7,130.7
$KALMAN_Y,22138.0,188.9,162.8,-12335.2,226.5
$MHEAD_RNG_PITCHd_Wd,185.5,366,-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,-84.20,0.000,2,0.000,0.000,411,2200,3126
$GC,118,-1.54,-97.8,2.2,-5.7,14,155,13.52,2.60,-13.43,0.000,4,0.198,0.070,2559,3595,3604
$GC,191,-1.54,-97.8,9.4,-10.5,25,197,0.00,2.42,0.00,0.000,6,0.000,0.035,2559,2196,3605
$GC,263,-1.54,-97.8,15.1,-7.2,36,270,0.00,2.58,0.00,0.000,4,0.000,0.065,2559,806,3605
$GC,296,-1.54,-97.8,17.8,-8.3,41,303,0.00,2.45,0.00,0.000,6,0.000,0.035,2559,2204,3605
$GC,373,-1.54,-97.8,24.5,-8.9,49,374,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2204,3605
$GC,565,-1.54,-97.8,41.4,-9.2,64,566,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2204,3605
$GC,755,-1.54,-97.8,58.2,-8.9,79,760,0.00,2.62,0.00,0.000,4,0.000,0.065,2559,801,3605
$GC,780,-1.54,-97.8,60.8,-8.8,80,787,0.00,2.47,0.00,0.000,6,0.000,0.036,2559,2200,3606
$GC,977,-1.54,-97.8,77.9,-8.7,96,978,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2200,3606
$GC,1169,-1.54,-97.8,94.6,-9.0,111,1173,0.00,2.47,0.00,0.000,3,0.000,0.058,2559,3582,3605
$STATE,1174,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1174,begin apogee
$GC,1183,-0.38,0.0,95.2,8.8,111,1265,1.27,0.00,77.82,0.671,6,0.107,0.000,2810,2151,3203
$STATE,1266,end apogee,CONTROL_FINISHED_OK
$STATE,1266,begin climb
$GC,1269,1.54,97.8,98.2,0.0,118,1350,1.98,0.00,76.55,0.650,6,0.063,0.000,3235,2151,2803
$GC,1537,1.56,116.8,84.5,6.9,140,1561,0.00,2.62,14.45,0.676,4,0.000,0.055,3236,3545,2724
$GC,1667,1.56,116.8,73.9,8.3,150,1671,0.00,2.45,0.00,0.000,6,0.000,0.036,3238,2145,2723
$GC,1863,1.56,116.8,58.5,8.2,165,1867,0.00,2.55,0.00,0.000,4,0.000,0.056,3236,3548,2723
$GC,1922,1.56,116.8,53.3,8.6,169,1926,0.00,2.45,0.00,0.000,6,0.000,0.036,3235,2142,2723
$GC,2118,1.57,121.0,37.8,7.7,184,2123,0.00,0.00,2.83,0.759,6,0.000,0.000,3236,2142,2708
$GC,2307,1.57,121.0,22.9,8.1,199,2311,0.00,2.55,0.00,0.000,4,0.000,0.057,3235,3544,2707
$GC,2360,1.57,121.0,18.7,8.0,203,2366,0.00,2.42,0.00,0.000,6,0.000,0.036,3236,2145,2707
$GC,2433,1.58,134.7,13.3,7.2,214,2445,0.00,0.00,10.43,0.677,6,0.000,0.000,3235,2145,2652
$GC,2512,1.58,134.7,6.1,9.4,226,2518,0.00,2.62,0.00,0.000,4,0.000,0.067,3236,753,2651
$STATE,2530,end climb,SURFACE_DEPTH_REACHED
$STATE,2530,begin surface coast
$FINISH,-0.2,1.022820
$STATE,2602,end surface coast,CONTROL_FINISHED_OK
$STATE,2602,begin surface
$SM_CCo,2633,142.68,0.581,0,0,1367,450.13
$SM_GC,0.31,0.00,0.00,142.68,0.000,0.000,0.581,411,2204,1367,-11.45,0.11,450.13
$IRIDIUM_FIX,4729.30,-12248.15,061007,232349
$TT8_MAMPS,0.074399
$HUMID,2158
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,20.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.2,999.0
$24V_AH,23.7,48.306
$10V_AH,10.0,32.055
$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,29.750,40.375,182.075,142.675,0.000,62.828,37.131,238.216,0.250,0.000,3477.000,32.045,452.504,1492.298,449.977,447.091,529.948,33.348,709.395,0.000,400.988,0.000,2.488
$DEVICE_MAMPS,197.886,69.797,759.330,580.619,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,170.142,0.000,0.000,0.000,0.000,0.000,0.000,3477.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6437,240
$CFSIZE,260231168,246620160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,210535,4745.167,-12249.817,9,2.7,28,18.3