version: 66.02
glider: 117
mission: 4
dive: 448
start: 10 10 107 8 9 50
data:
$ID,117
$MISSION,4
$DIVE,448
$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,500
$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,-27862.043
$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,24
$R_STBD_OVSHOOT,34
$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
$GPS1,075544,4745.317,-12249.650,14,1.6,32,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.21
$_SM_ANGLEo,-51.5
$GPS2,080850,4745.453,-12249.621,15,1.7,32,18.3
$SPEED_LIMITS,0.137,0.241
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.085,-0.225
$KALMAN_X,34940.2,231.9,137.5,-31475.5,28.7
$KALMAN_Y,28490.2,726.5,278.4,-19010.5,52.2
$MHEAD_RNG_PITCHd_Wd,182.3,722,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-1.32,-146.6,0.0,0.0,0,160,0.00,0.00,-127.55,0.000,2,0.000,0.000,403,2197,3299
$GC,164,-1.32,-146.6,2.1,-5.2,21,195,13.93,0.00,-11.70,0.000,6,0.199,0.000,2606,2198,3802
$GC,261,-1.32,-146.6,14.3,-10.2,36,267,0.00,2.55,0.00,0.000,4,0.000,0.058,2606,3598,3803
$GC,288,-1.32,-146.6,16.7,-8.9,40,294,0.00,2.42,0.00,0.000,6,0.000,0.035,2605,2196,3803
$GC,360,-1.32,-146.6,22.5,-8.4,49,364,0.00,2.62,0.00,0.000,4,0.000,0.067,2606,797,3803
$GC,407,-1.32,-146.6,26.6,-8.8,52,411,0.00,2.47,0.00,0.000,6,0.000,0.035,2606,2203,3803
$GC,603,-1.32,-146.6,43.2,-8.4,67,604,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2203,3803
$GC,795,-1.32,-146.6,59.2,-8.5,82,799,0.00,2.62,0.00,0.000,4,0.000,0.065,2606,802,3803
$GC,828,-1.32,-146.6,62.3,-8.9,84,833,0.00,2.45,0.00,0.000,6,0.000,0.036,2606,2200,3805
$GC,1025,-1.32,-146.6,77.9,-8.2,99,1026,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2200,3803
$GC,1217,-1.32,-146.6,93.4,-8.2,114,1221,0.00,2.62,0.00,0.000,4,0.000,0.066,2606,800,3803
$STATE,1234,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1234,begin apogee
$GC,1245,-0.38,0.0,95.3,8.2,115,1363,1.00,0.00,113.95,0.671,6,0.091,0.000,2809,2155,3202
$STATE,1364,end apogee,CONTROL_FINISHED_OK
$STATE,1364,begin climb
$GC,1370,1.32,146.6,99.5,0.0,125,1492,1.75,0.00,113.22,0.645,6,0.061,0.000,3187,2155,2605
$GC,1678,1.32,151.3,83.2,7.7,150,1690,0.00,2.72,3.17,0.739,4,0.000,0.064,3188,751,2585
$GC,1731,1.32,152.3,78.8,7.9,154,1735,0.00,2.47,0.00,0.000,6,0.000,0.035,3188,2149,2586
$GC,1927,1.33,156.4,63.8,7.8,169,1940,0.00,2.60,3.72,0.738,4,0.000,0.060,3188,3540,2564
$GC,1993,1.33,156.4,58.4,8.0,174,1997,0.00,2.42,0.00,0.000,6,0.000,0.036,3188,2147,2565
$GC,2197,1.35,170.1,43.0,7.4,190,2209,0.00,0.00,10.55,0.684,6,0.000,0.000,3187,2144,2508
$GC,2399,1.35,170.1,26.9,8.1,206,2403,0.00,2.55,0.00,0.000,4,0.000,0.058,3187,3542,2508
$GC,2451,1.35,170.1,22.3,9.0,209,2457,0.00,2.42,0.00,0.000,6,0.000,0.035,3188,2148,2508
$GC,2655,1.39,202.1,7.1,6.8,238,2686,0.00,2.67,24.15,0.643,4,0.000,0.068,3187,752,2378
$STATE,2690,end climb,SURFACE_DEPTH_REACHED
$STATE,2690,begin surface coast
$FINISH,-0.7,1.022780
$STATE,2770,end surface coast,CONTROL_FINISHED_OK
$STATE,2770,begin surface
$SM_CCo,2805,134.48,0.578,0,0,1162,500.17
$SM_GC,-0.09,0.00,0.00,134.48,0.000,0.000,0.578,409,2203,1162,-11.45,0.06,500.17
$IRIDIUM_FIX,4729.30,-12252.58,101007,111143
$TT8_MAMPS,0.072865
$HUMID,2159
$INTERNAL_PRESSURE,7.92999
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.7,999.0
$24V_AH,23.6,57.992
$10V_AH,10.0,38.728
$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,29.300,40.650,268.775,134.475,0.000,100.128,60.663,312.033,0.250,0.000,3914.000,32.278,458.070,1561.761,527.815,486.969,708.592,33.363,829.680,0.000,440.667,0.000,2.489
$DEVICE_MAMPS,198.653,68.263,739.388,578.318,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,181.428,0.000,0.000,0.000,0.000,0.000,0.000,3914.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6467,256
$CFSIZE,260231168,243818496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101007,085959,4745.254,-12249.715,11,2.8,30,18.3