version: 66.02
glider: 117
mission: 4
dive: 445
start: 10 10 107 5 22 2
data:
$ID,117
$MISSION,4
$DIVE,445
$D_SURF,5
$D_FLARE,2
$D_TGT,50
$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,15
$T_MISSION,40
$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,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,-27761.127
$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,37
$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
$GPS1,050627,4745.386,-12249.612,11,1.7,11,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.18
$_SM_ANGLEo,-52.3
$GPS2,052103,4745.522,-12249.523,12,1.5,12,18.3
$SPEED_LIMITS,0.192,0.269
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.109,-0.247
$KALMAN_X,34606.8,140.4,120.3,-30914.9,12.2
$KALMAN_Y,27625.0,589.7,318.3,-17921.7,30.7
$MHEAD_RNG_PITCHd_Wd,185.5,887,-19.9,-11.111
$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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,32,-1.71,-146.6,0.0,0.0,0,140,0.00,0.00,-101.62,0.000,2,0.000,0.000,407,2157,3263
$GC,144,-1.71,-146.6,2.2,-5.8,17,175,13.50,2.65,-11.80,0.000,4,0.202,0.072,2523,3595,3802
$GC,219,-1.71,-146.6,13.4,-10.8,28,225,0.00,2.42,0.00,0.000,6,0.000,0.035,2522,2200,3803
$GC,297,-1.71,-146.6,23.4,-12.3,38,299,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2200,3803
$GC,489,-1.71,-146.6,45.3,-11.5,53,490,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2200,3803
$STATE,533,end dive,TARGET_DEPTH_EXCEEDED
$STATE,533,begin apogee
$GC,542,-0.38,0.0,51.0,11.4,57,660,1.48,0.00,114.12,0.636,6,0.107,0.000,2810,2139,3203
$STATE,661,end apogee,CONTROL_FINISHED_OK
$STATE,661,begin climb
$GC,665,1.71,146.6,55.5,0.0,67,790,2.12,2.62,112.32,0.615,4,0.061,0.054,3272,3548,2603
$GC,810,1.77,196.9,50.6,8.6,78,853,0.00,2.45,38.28,0.608,6,0.000,0.035,3272,2157,2398
$GC,1043,1.77,196.9,24.5,11.6,97,1044,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,2157,2397
$STATE,1221,end climb,SURFACE_DEPTH_REACHED
$STATE,1221,begin surface coast
$FINISH,-0.7,1.022659
$STATE,1279,end surface coast,CONTROL_FINISHED_OK
$STATE,1279,begin surface
$SM_CCo,1308,198.45,0.561,0,0,745,602.46
$SM_GC,-0.32,0.00,0.00,198.45,0.000,0.000,0.561,407,2196,745,-11.47,-0.14,602.46
$IRIDIUM_FIX,4726.11,-12250.84,101007,090921
$TT8_MAMPS,0.071331
$HUMID,2134
$INTERNAL_PRESSURE,7.90069
$TCM_TEMP,20.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,26.2,999.0
$24V_AH,23.7,57.683
$10V_AH,10.0,38.482
$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,30.000,10.225,264.725,198.450,0.000,176.292,310.072,0.000,0.500,0.000,2427.000,12.505,234.769,738.327,539.481,239.874,650.561,33.328,716.772,0.000,226.729,0.000,2.481
$DEVICE_MAMPS,202.488,170.274,635.843,560.677,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,91.123,0.000,0.000,0.000,0.000,0.000,0.000,2427.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,3316,129
$CFSIZE,260231168,243920896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101007,054822,4745.458,-12249.524,14,9.6,33,18.3