version: 66.02
glider: 117
mission: 4
dive: 401
start: 10 8 107 22 4 36
data:
$ID,117
$MISSION,4
$DIVE,401
$D_SURF,5
$D_FLARE,2
$D_TGT,35
$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,10
$T_MISSION,20
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$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,-26653.012
$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,29
$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
$GPS1,214808,4744.878,-12250.178,9,1.9,9,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.08
$_SM_ANGLEo,-59.7
$GPS2,220332,4744.812,-12250.260,42,1.4,42,18.3
$SPEED_LIMITS,0.202,0.274
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.201,0.185
$KALMAN_X,35601.6,-294.3,-133.4,-32131.5,-1.6
$KALMAN_Y,28144.4,-237.1,-119.5,-18481.5,-2.2
$MHEAD_RNG_PITCHd_Wd,29.1,750,-20.7,-11.667
$D_GRID,170
$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,-1.77,-146.6,0.0,0.0,0,130,0.00,0.00,-95.93,0.000,2,0.000,0.000,405,2161,3169
$GC,136,-1.77,-146.6,2.1,-6.1,16,167,13.32,0.00,-15.25,0.000,6,0.200,0.000,2505,2162,3802
$GC,234,-1.77,-146.6,15.8,-12.9,31,240,0.00,2.55,0.00,0.000,4,0.000,0.065,2505,801,3804
$GC,280,-1.77,-146.6,21.5,-12.0,37,286,0.00,2.45,0.00,0.000,6,0.000,0.036,2505,2199,3803
$STATE,397,end dive,TARGET_DEPTH_EXCEEDED
$STATE,397,begin apogee
$GC,405,-0.38,0.0,36.0,12.3,47,524,1.55,0.00,113.93,0.619,6,0.103,0.000,2811,2124,3202
$STATE,525,end apogee,CONTROL_FINISHED_OK
$STATE,525,begin climb
$GC,528,1.77,146.6,40.3,0.0,57,649,2.17,0.00,112.03,0.601,6,0.060,0.000,3288,2124,2603
$GC,840,1.81,176.6,17.6,10.1,83,870,0.00,2.67,22.52,0.610,4,0.000,0.058,3288,3543,2482
$GC,905,1.81,181.0,10.4,11.4,93,917,0.00,2.42,3.05,0.681,6,0.000,0.036,3288,2155,2464
$STATE,960,end climb,SURFACE_DEPTH_REACHED
$STATE,960,begin surface coast
$FINISH,0.2,1.022564
$STATE,1014,end surface coast,CONTROL_FINISHED_OK
$STATE,1014,begin surface
$SM_CCo,1045,205.00,0.556,0,0,746,602.46
$SM_GC,0.06,0.00,0.00,205.00,0.000,0.000,0.556,403,2207,746,-11.49,0.20,602.46
$IRIDIUM_FIX,4726.11,-12248.15,091007,010121
$TT8_MAMPS,0.077467
$HUMID,2100
$INTERNAL_PRESSURE,7.91046
$TCM_TEMP,20.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,21.5,999.0
$24V_AH,23.7,53.369
$10V_AH,10.0,35.908
$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,29.900,10.225,251.525,205.000,0.000,179.230,300.676,0.000,0.500,0.000,2217.000,42.916,194.880,565.866,548.627,228.673,661.396,33.328,703.408,0.000,186.903,0.000,2.474
$DEVICE_MAMPS,200.187,91.273,681.096,556.075,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,77.395,0.000,0.000,0.000,0.000,0.000,0.000,2217.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,3322,110
$CFSIZE,260231168,245067776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081007,222615,4744.866,-12250.189,10,1.7,10,18.3