version: 66.02
glider: 117
mission: 4
dive: 407
start: 10 9 107 1 34 42
data:
$ID,117
$MISSION,4
$DIVE,407
$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,-26806.564
$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,44
$R_STBD_OVSHOOT,41
$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
$GPS1,011852,4744.893,-12250.034,7,3.7,26,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.08
$_SM_ANGLEo,-60.3
$GPS2,013337,4744.798,-12250.063,17,1.1,33,18.3
$SPEED_LIMITS,0.202,0.274
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.121,0.245
$KALMAN_X,35330.9,-381.2,-178.5,-31485.7,13.5
$KALMAN_Y,27830.8,-356.5,-189.0,-18003.5,0.8
$MHEAD_RNG_PITCHd_Wd,8.1,616,-20.7,-11.667
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,30,-1.77,-146.6,0.0,0.0,0,143,0.00,0.00,-107.82,0.000,2,0.000,0.000,407,2220,3491
$GC,147,-1.77,-146.6,2.6,-5.0,18,173,13.45,2.65,-5.85,0.000,4,0.203,0.078,2507,819,3801
$GC,222,-1.77,-146.6,17.9,-12.3,29,228,0.00,2.42,0.00,0.000,6,0.000,0.037,2507,2197,3803
$GC,293,-1.77,-146.6,26.4,-11.8,36,297,0.00,2.55,0.00,0.000,4,0.000,0.061,2507,3597,3803
$GC,339,-1.77,-146.6,32.4,-12.8,39,343,0.00,2.40,0.00,0.000,6,0.000,0.036,2507,2217,3803
$STATE,368,end dive,TARGET_DEPTH_EXCEEDED
$STATE,368,begin apogee
$GC,376,-0.38,0.0,36.6,12.9,41,495,1.55,0.00,113.90,0.614,6,0.103,0.000,2811,2127,3202
$STATE,496,end apogee,CONTROL_FINISHED_OK
$STATE,496,begin climb
$GC,499,1.77,146.6,40.8,0.0,51,620,2.20,2.62,112.32,0.595,4,0.059,0.065,3291,762,2603
$GC,640,1.84,201.6,34.8,8.7,62,687,0.00,2.47,41.58,0.591,6,0.000,0.035,3291,2151,2380
$GC,885,1.89,240.4,6.9,9.6,90,910,0.00,0.00,22.90,0.592,2,0.000,0.000,3290,2151,2255
$STATE,910,end climb,SURFACE_DEPTH_REACHED
$STATE,910,begin surface coast
$FINISH,-0.6,1.022478
$STATE,964,end surface coast,CONTROL_FINISHED_OK
$STATE,964,begin surface
$SM_CCo,993,182.10,0.551,0,0,745,602.46
$SM_GC,0.00,0.00,0.00,182.10,0.000,0.000,0.551,412,2208,745,-11.44,0.23,602.46
$IRIDIUM_FIX,4726.11,-12250.84,091007,050541
$TT8_MAMPS,0.072098
$HUMID,2118
$INTERNAL_PRESSURE,7.90069
$TCM_TEMP,20.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,21.8,999.0
$24V_AH,23.7,53.942
$10V_AH,10.0,36.204
$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,30.350,15.275,290.700,182.100,0.000,180.974,300.670,0.000,0.500,0.000,2131.000,33.377,185.819,492.445,557.609,214.694,637.661,33.324,715.965,0.000,184.664,0.000,2.472
$DEVICE_MAMPS,203.255,103.545,613.600,551.473,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,71.745,0.000,0.000,0.000,0.000,0.000,0.000,2131.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,3297,102
$CFSIZE,260231168,244924416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091007,015509,4744.851,-12250.052,13,1.5,13,18.3