version: 66.02
glider: 117
mission: 4
dive: 389
start: 10 8 107 10 59 45
data:
$ID,117
$MISSION,4
$DIVE,389
$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,-26216.41
$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,29
$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
$GPS1,104347,4744.982,-12249.975,11,3.2,30,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.22
$_SM_ANGLEo,-59.3
$GPS2,105848,4744.987,-12250.005,18,2.1,37,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.137,0.100
$KALMAN_X,36633.5,-131.6,-54.3,-33090.7,-18.3
$KALMAN_Y,28824.2,-206.7,7.1,-18997.1,-4.3
$MHEAD_RNG_PITCHd_Wd,35.5,299,-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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,31,-1.79,-68.1,0.0,0.0,0,130,0.00,0.00,-95.95,0.000,2,0.000,0.000,407,2193,3227
$GC,136,-1.83,-97.7,2.3,-5.6,16,167,13.23,2.60,-8.45,0.000,4,0.199,0.068,2493,3593,3603
$GC,418,-1.83,-97.7,40.9,-11.8,46,424,0.00,2.42,0.00,0.000,6,0.000,0.035,2493,2191,3604
$GC,615,-1.83,-97.7,63.3,-12.0,62,619,0.00,2.55,0.00,0.000,4,0.000,0.056,2493,3600,3605
$GC,847,-1.83,-97.7,90.0,-11.9,79,852,0.00,2.42,0.00,0.000,6,0.000,0.035,2493,2202,3605
$STATE,889,end dive,TARGET_DEPTH_EXCEEDED
$STATE,889,begin apogee
$GC,897,-0.38,0.0,95.3,11.6,82,979,1.62,0.00,77.40,0.670,6,0.109,0.000,2810,2132,3202
$STATE,979,end apogee,CONTROL_FINISHED_OK
$STATE,979,begin climb
$GC,983,1.83,97.7,98.2,0.0,89,1067,2.25,0.00,76.05,0.653,6,0.061,0.000,3302,2132,2802
$GC,1257,1.83,100.6,82.2,7.7,111,1262,0.00,2.60,0.00,0.000,4,0.000,0.065,3301,751,2800
$GC,1296,1.83,100.6,78.6,8.9,113,1303,0.00,2.47,0.00,0.000,6,0.000,0.035,3302,2161,2800
$GC,1493,1.84,102.8,63.1,7.7,129,1505,0.00,2.58,3.55,0.755,4,0.000,0.061,3302,3541,2782
$GC,1631,1.84,102.8,51.3,8.2,139,1638,0.00,2.42,0.00,0.000,6,0.000,0.036,3302,2146,2781
$GC,1827,1.84,102.8,35.5,8.1,155,1828,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,2146,2781
$GC,2021,1.84,104.2,20.4,7.8,170,2025,0.00,2.55,0.00,0.000,4,0.000,0.057,3302,3547,2781
$GC,2279,1.94,191.3,9.4,1.1,208,2352,0.00,2.42,67.45,0.619,6,0.000,0.035,3301,2145,2422
$STATE,2378,end climb,SURFACE_DEPTH_REACHED
$STATE,2379,begin surface coast
$FINISH,-0.5,1.022971
$STATE,2464,end surface coast,CONTROL_FINISHED_OK
$STATE,2464,begin surface
$SM_CCo,2492,200.77,0.567,0,0,746,602.46
$SM_GC,0.16,0.00,0.00,200.77,0.000,0.000,0.567,409,2217,746,-11.46,0.48,602.46
$IRIDIUM_FIX,4726.11,-12250.84,081007,141447
$TT8_MAMPS,0.072098
$HUMID,2139
$INTERNAL_PRESSURE,7.89093
$TCM_TEMP,20.10
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,70.2,999.0
$24V_AH,23.6,52.021
$10V_AH,10.0,35.039
$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,30.300,25.200,224.450,200.775,0.000,172.208,320.596,0.000,1.000,0.000,3685.000,38.571,427.320,1506.154,526.581,474.784,675.638,33.335,795.302,0.000,431.074,0.000,2.489
$DEVICE_MAMPS,199.420,82.836,754.728,566.813,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,166.997,0.000,0.000,0.000,0.000,0.000,0.000,3685.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6474,236
$CFSIZE,260231168,245387264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081007,114555,4745.009,-12249.905,35,1.7,39,18.3