version: 66.02
glider: 117
mission: 4
dive: 447
start: 10 10 107 7 4 20
data:
$ID,117
$MISSION,4
$DIVE,447
$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,60
$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,-27829.137
$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,20
$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
$GPS1,064832,4745.364,-12249.632,40,1.4,40,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.09
$_SM_ANGLEo,-53.9
$GPS2,070323,4745.526,-12249.564,11,2.1,30,18.3
$SPEED_LIMITS,0.137,0.241
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.099,-0.219
$KALMAN_X,34820.1,198.9,139.3,-31252.8,80.9
$KALMAN_Y,28148.3,691.5,315.5,-18534.7,116.2
$MHEAD_RNG_PITCHd_Wd,186.1,874,-14.8,-7.917
$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,-1.32,-146.6,0.0,0.0,0,140,0.00,0.00,-101.68,0.000,2,0.000,0.000,406,2202,3255
$GC,144,-1.32,-146.6,2.2,-6.1,17,176,13.98,2.70,-12.18,0.000,4,0.200,0.077,2606,792,3802
$GC,203,-1.32,-146.6,11.4,-10.7,26,209,0.00,2.50,0.00,0.000,6,0.000,0.037,2606,2201,3804
$GC,276,-1.32,-146.6,17.5,-8.8,37,282,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2201,3803
$GC,354,-1.32,-146.6,24.2,-7.7,45,355,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2201,3804
$GC,546,-1.32,-146.6,40.1,-8.5,60,550,0.00,2.62,0.00,0.000,4,0.000,0.064,2606,793,3804
$GC,585,-1.32,-146.6,43.7,-8.6,62,591,0.00,2.47,0.00,0.000,6,0.000,0.036,2606,2203,3804
$GC,781,-1.32,-146.6,60.4,-8.5,78,782,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2203,3804
$GC,973,-1.32,-146.6,76.0,-7.9,93,975,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2203,3804
$GC,1164,-1.32,-146.6,91.2,-8.1,108,1169,0.00,2.65,0.00,0.000,4,0.000,0.066,2606,790,3804
$GC,1203,-1.32,-146.6,95.0,-8.7,110,1210,0.00,2.47,0.00,0.000,6,0.000,0.037,2606,2201,3804
$STATE,1220,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1220,begin apogee
$GC,1228,-0.38,0.0,96.5,8.4,112,1347,1.00,0.00,114.78,0.670,6,0.091,0.000,2811,2124,3202
$STATE,1348,end apogee,CONTROL_FINISHED_OK
$STATE,1348,begin climb
$GC,1354,1.32,146.6,100.7,0.0,122,1473,1.75,0.00,113.35,0.647,6,0.060,0.000,3189,2124,2604
$GC,1660,1.32,149.1,85.1,7.8,147,1666,0.00,2.62,1.52,0.798,4,0.000,0.065,3189,765,2593
$GC,1699,1.32,149.1,81.8,8.2,149,1705,0.00,2.45,0.00,0.000,6,0.000,0.035,3189,2154,2593
$GC,1896,1.34,161.5,67.0,7.5,165,1912,0.00,2.60,9.48,0.693,4,0.000,0.060,3188,3541,2544
$GC,1966,1.34,161.5,61.2,8.1,170,1973,0.00,2.40,0.00,0.000,6,0.000,0.035,3189,2166,2542
$GC,2163,1.34,163.0,46.3,7.9,186,2167,0.00,2.53,0.00,0.000,4,0.000,0.058,3189,3550,2542
$GC,2210,1.34,163.0,42.5,8.6,189,2214,0.00,2.45,0.00,0.000,6,0.000,0.036,3189,2146,2542
$GC,2406,1.34,163.0,27.1,8.0,204,2410,0.00,2.62,0.00,0.000,4,0.000,0.068,3189,750,2542
$GC,2432,1.34,163.0,24.9,7.9,205,2438,0.00,2.45,0.00,0.000,6,0.000,0.035,3189,2149,2542
$GC,2635,1.39,202.8,9.9,6.5,231,2672,0.00,2.65,31.38,0.642,4,0.000,0.058,3189,3547,2374
$STATE,2705,end climb,SURFACE_DEPTH_REACHED
$STATE,2705,begin surface coast
$FINISH,-0.7,1.022740
$STATE,2783,end surface coast,CONTROL_FINISHED_OK
$STATE,2783,begin surface
$SM_CCo,2817,196.35,0.574,0,0,745,602.46
$SM_GC,-0.19,0.00,0.00,196.35,0.000,0.000,0.574,403,2197,745,-11.49,-0.08,602.46
$IRIDIUM_FIX,4726.11,-12159.30,101007,101026
$TT8_MAMPS,0.075933
$HUMID,2147
$INTERNAL_PRESSURE,7.89093
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.8,999.0
$24V_AH,23.6,57.888
$10V_AH,10.0,38.644
$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,29.325,40.650,270.500,196.350,0.000,180.346,300.676,0.000,0.250,0.000,3986.000,31.503,455.852,1713.879,589.340,457.006,704.482,33.336,868.471,0.000,421.835,0.000,2.488
$DEVICE_MAMPS,200.187,76.700,798.447,574.483,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,180.130,0.000,0.000,0.000,0.000,0.000,0.000,3986.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6438,254
$CFSIZE,260231168,243838976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,101007,075544,4745.317,-12249.650,14,1.6,32,18.3