version: 66.02
glider: 117
mission: 4
dive: 386
start: 10 8 107 7 59 44
data:
$ID,117
$MISSION,4
$DIVE,386
$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,602.45679
$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,-26126.383
$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,32
$R_STBD_OVSHOOT,35
$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
$GPS1,073856,4745.206,-12250.015,13,1.7,30,18.3
$_CALLS,5
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.20
$_SM_ANGLEo,-57.5
$GPS2,075847,4745.198,-12250.068,15,3.9,34,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.149,-0.081
$KALMAN_X,36924.1,-120.4,-102.9,-33422.3,-9.2
$KALMAN_Y,29021.8,-166.6,-75.9,-18760.6,-31.9
$MHEAD_RNG_PITCHd_Wd,100.3,378,-22.2,-7.917
$D_GRID,173
$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,-1.79,-68.1,0.0,0.0,0,156,0.00,0.00,-122.47,0.000,2,0.000,0.000,410,2212,3288
$GC,160,-1.83,-97.8,2.2,-5.1,20,186,13.18,2.58,-7.30,0.000,4,0.198,0.071,2494,3592,3604
$GC,350,-1.83,-97.8,30.1,-12.1,43,357,0.00,2.40,0.00,0.000,6,0.000,0.035,2494,2204,3605
$GC,547,-1.83,-97.8,51.8,-11.3,59,548,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2203,3605
$GC,738,-1.83,-97.8,73.0,-11.0,74,743,0.00,2.50,0.00,0.000,4,0.000,0.058,2494,3594,3605
$GC,804,-1.83,-97.8,81.2,-11.8,78,810,0.00,2.42,0.00,0.000,6,0.000,0.035,2494,2201,3605
$STATE,935,end dive,TARGET_DEPTH_EXCEEDED
$STATE,935,begin apogee
$GC,943,-0.38,0.0,95.6,11.0,89,1024,1.60,0.00,76.90,0.671,6,0.109,0.000,2812,2139,3202
$STATE,1025,end apogee,CONTROL_FINISHED_OK
$STATE,1025,begin climb
$GC,1029,1.83,97.8,98.7,0.0,96,1114,2.25,2.62,76.12,0.649,4,0.060,0.057,3301,3545,2802
$GC,1173,1.83,97.8,92.8,7.9,107,1180,0.00,2.42,0.00,0.000,6,0.000,0.035,3301,2157,2802
$GC,1369,1.83,97.8,76.6,8.2,123,1370,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,2156,2801
$GC,1561,1.83,97.8,61.3,8.2,138,1562,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,2157,2801
$GC,1752,1.83,101.4,46.9,7.6,153,1764,0.00,2.60,2.40,0.772,4,0.000,0.058,3301,3541,2788
$GC,1896,1.83,101.4,34.7,8.4,164,1901,0.00,2.42,0.00,0.000,6,0.000,0.036,3300,2148,2788
$GC,2093,1.84,106.5,19.5,7.5,179,2105,0.00,2.65,3.75,0.734,4,0.000,0.065,3301,761,2767
$GC,2231,1.92,173.7,13.1,2.7,200,2292,0.00,2.42,51.65,0.623,6,0.000,0.035,3300,2149,2493
$GC,2358,1.92,173.7,6.4,8.0,220,2365,0.00,2.55,0.00,0.000,4,0.000,0.060,3301,3543,2492
$STATE,2375,end climb,SURFACE_DEPTH_REACHED
$STATE,2375,begin surface coast
$FINISH,-0.4,1.022855
$STATE,2438,end surface coast,CONTROL_FINISHED_OK
$STATE,2438,begin surface
$SM_CCo,2470,209.07,0.570,0,0,746,602.46
$SM_GC,0.17,0.00,0.00,209.07,0.000,0.000,0.570,409,2189,746,-11.46,-0.28,602.46
$IRIDIUM_FIX,4726.11,-12248.15,081007,111142
$TT8_MAMPS,0.071331
$HUMID,2126
$INTERNAL_PRESSURE,7.89093
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.3,999.0
$24V_AH,23.6,51.724
$10V_AH,10.1,34.805
$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,30.325,30.025,210.825,209.075,0.000,181.263,290.047,285.757,0.250,4.150,3984.850,35.794,412.753,1515.003,551.229,444.441,963.381,33.340,811.352,0.000,396.982,0.000,2.489
$DEVICE_MAMPS,197.886,107.380,772.369,569.881,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,164.210,0.000,0.000,0.000,0.000,0.000,0.000,3989.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6445,232
$CFSIZE,260231168,245456896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081007,084537,4745.091,-12249.831,36,1.3,36,18.3