version: 66.02
glider: 117
mission: 4
dive: 393
start: 10 8 107 15 10 37
data:
$ID,117
$MISSION,4
$DIVE,393
$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,-26324.758
$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,27
$R_STBD_OVSHOOT,31
$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
$GPS1,145515,4745.199,-12249.784,9,1.4,9,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.28
$_SM_ANGLEo,-59.9
$GPS2,150938,4745.171,-12249.778,11,1.5,11,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.032,-0.167
$KALMAN_X,36241.7,-153.1,-17.6,-32431.2,-12.9
$KALMAN_Y,28567.5,-178.6,-10.2,-18410.7,15.5
$MHEAD_RNG_PITCHd_Wd,172.5,164,-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,-95.95,0.000,2,0.000,0.000,413,2194,3219
$GC,136,-1.83,-97.8,2.2,-5.4,16,167,13.18,2.60,-8.93,0.000,4,0.199,0.068,2492,3597,3604
$GC,417,-1.83,-97.8,40.3,-12.0,46,424,0.00,2.42,0.00,0.000,6,0.000,0.035,2492,2194,3606
$GC,614,-1.83,-97.8,62.3,-11.2,62,619,0.00,2.53,0.00,0.000,4,0.000,0.056,2492,3597,3606
$GC,852,-1.83,-97.8,90.7,-11.6,79,858,0.00,2.42,0.00,0.000,6,0.000,0.035,2492,2195,3605
$STATE,893,end dive,TARGET_DEPTH_EXCEEDED
$STATE,893,begin apogee
$GC,901,-0.38,0.0,95.6,11.2,83,984,1.62,0.00,77.70,0.667,6,0.109,0.000,2809,2136,3202
$STATE,985,end apogee,CONTROL_FINISHED_OK
$STATE,985,begin climb
$GC,988,1.83,97.8,98.7,0.0,90,1073,2.28,2.62,76.12,0.649,4,0.059,0.055,3303,3547,2802
$GC,1126,1.83,97.8,93.1,8.0,101,1131,0.00,2.42,0.00,0.000,6,0.000,0.035,3303,2162,2801
$GC,1323,1.83,102.0,77.2,7.6,116,1334,0.00,2.58,2.67,0.762,4,0.000,0.056,3303,3547,2786
$GC,1460,1.83,102.0,65.5,8.4,126,1467,0.00,2.42,0.00,0.000,6,0.000,0.035,3303,2149,2786
$GC,1656,1.83,102.0,49.7,7.9,142,1657,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,2149,2785
$GC,1848,1.84,103.3,34.6,7.8,157,1852,0.00,2.55,0.00,0.000,4,0.000,0.056,3303,3552,2785
$GC,1982,1.84,103.3,23.7,8.2,166,1988,0.00,2.42,0.00,0.000,6,0.000,0.035,3304,2147,2785
$GC,2185,1.92,168.4,12.3,2.8,193,2245,0.00,2.65,50.83,0.625,4,0.000,0.054,3303,3547,2514
$GC,2299,1.92,173.3,6.5,7.5,211,2311,0.00,2.42,3.38,0.709,6,0.000,0.035,3303,2151,2494
$STATE,2315,end climb,SURFACE_DEPTH_REACHED
$STATE,2315,begin surface coast
$FINISH,-0.4,1.022903
$STATE,2389,end surface coast,CONTROL_FINISHED_OK
$STATE,2389,begin surface
$SM_CCo,2420,210.18,0.567,0,0,745,602.46
$SM_GC,0.11,0.00,0.00,210.18,0.000,0.000,0.567,411,2217,745,-11.44,0.48,602.46
$IRIDIUM_FIX,4729.30,-12249.89,081007,191959
$TT8_MAMPS,0.075166
$HUMID,2141
$INTERNAL_PRESSURE,7.90069
$TCM_TEMP,20.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,70.4,999.0
$24V_AH,23.6,52.437
$10V_AH,10.0,35.362
$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,30.300,30.200,210.700,210.175,0.000,180.403,300.672,0.000,0.750,0.000,3542.000,11.004,414.254,1444.878,529.752,453.083,670.088,33.338,805.726,0.000,436.627,0.000,2.489
$DEVICE_MAMPS,199.420,108.914,762.398,566.813,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,159.270,0.000,0.000,0.000,0.000,0.000,0.000,3542.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6460,225
$CFSIZE,260231168,245268480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,081007,155535,4745.052,-12249.899,9,2.2,28,18.3