version: 66.02
glider: 117
mission: 4
dive: 449
start: 10 10 107 9 16 4
data:
$ID,117
$MISSION,4
$DIVE,449
$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,-27894.82
$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,28
$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
$GPS1,085959,4745.254,-12249.715,11,2.8,30,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.05
$_SM_ANGLEo,-55.6
$GPS2,091507,4745.417,-12249.721,16,1.1,32,18.3
$SPEED_LIMITS,0.137,0.241
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.043,-0.237
$KALMAN_X,35024.7,244.5,108.2,-31667.1,-0.0
$KALMAN_Y,28916.1,737.1,219.6,-19457.9,37.5
$MHEAD_RNG_PITCHd_Wd,171.9,625,-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,-146.6,0.0,0.0,0,146,0.00,0.00,-107.50,0.000,2,0.000,0.000,410,2203,3430
$GC,150,-1.32,-146.6,2.7,-6.1,18,181,13.88,2.60,-7.43,0.000,4,0.198,0.070,2608,3601,3804
$GC,201,-1.32,-146.6,13.0,-11.6,26,208,0.00,2.45,0.00,0.000,6,0.000,0.036,2608,2195,3805
$GC,275,-1.32,-146.6,19.3,-8.9,37,281,0.00,2.60,0.00,0.000,4,0.000,0.066,2608,801,3805
$GC,320,-1.32,-146.6,23.5,-9.0,41,326,0.00,2.47,0.00,0.000,6,0.000,0.036,2608,2209,3805
$GC,516,-1.32,-146.6,39.7,-7.9,57,518,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2209,3805
$GC,710,-1.32,-146.6,55.3,-8.1,72,714,0.00,2.62,0.00,0.000,4,0.000,0.064,2607,801,3805
$GC,735,-1.32,-146.6,57.8,-8.2,73,742,0.00,2.47,0.00,0.000,6,0.000,0.036,2608,2207,3805
$GC,932,-1.32,-146.6,73.7,-8.0,89,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2207,3805
$GC,1124,-1.32,-146.6,89.2,-8.0,104,1129,0.00,2.62,0.00,0.000,4,0.000,0.064,2608,798,3806
$GC,1150,-1.32,-146.6,91.6,-8.2,105,1156,0.00,2.45,0.00,0.000,6,0.000,0.036,2608,2201,3805
$STATE,1192,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1192,begin apogee
$GC,1200,-0.38,0.0,95.2,8.5,109,1320,1.00,0.00,115.12,0.670,6,0.092,0.000,2810,2127,3202
$STATE,1320,end apogee,CONTROL_FINISHED_OK
$STATE,1321,begin climb
$GC,1327,1.32,146.6,99.6,0.0,119,1445,1.75,0.00,113.32,0.649,6,0.061,0.000,3189,2127,2604
$GC,1632,1.32,149.2,83.9,7.8,144,1636,0.00,0.00,1.60,0.793,6,0.000,0.000,3188,2127,2593
$GC,1821,1.33,159.8,69.6,7.5,159,1832,0.00,0.00,8.20,0.700,6,0.000,0.000,3188,2127,2550
$GC,2022,1.34,161.8,54.0,7.8,175,2027,0.00,2.60,0.00,0.000,4,0.000,0.059,3189,3547,2551
$GC,2069,1.34,161.8,50.2,8.3,178,2073,0.00,2.42,0.00,0.000,6,0.000,0.036,3189,2158,2549
$GC,2265,1.34,161.8,35.0,8.0,193,2266,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2158,2549
$GC,2459,1.35,174.2,20.8,7.5,208,2477,0.00,2.58,10.90,0.677,4,0.000,0.058,3188,3553,2491
$GC,2525,1.35,174.2,15.0,8.4,217,2531,0.00,2.45,0.00,0.000,6,0.000,0.036,3189,2150,2490
$GC,2598,1.37,191.8,9.5,7.3,228,2617,0.00,2.67,13.32,0.661,4,0.000,0.067,3189,753,2418
$STATE,2661,end climb,SURFACE_DEPTH_REACHED
$STATE,2661,begin surface coast
$FINISH,-0.8,1.022802
$STATE,2735,end surface coast,CONTROL_FINISHED_OK
$STATE,2735,begin surface
$SM_CCo,2769,201.15,0.574,0,0,746,602.46
$SM_GC,-0.18,0.00,0.00,201.15,0.000,0.000,0.574,408,2197,746,-11.46,-0.08,602.46
$IRIDIUM_FIX,4729.30,-12344.96,101007,131304
$TT8_MAMPS,0.071331
$HUMID,2153
$INTERNAL_PRESSURE,7.89093
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.6,999.0
$24V_AH,23.6,58.100
$10V_AH,10.0,38.812
$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,29.125,35.700,262.475,201.150,0.000,171.831,323.665,0.000,0.500,0.000,3941.000,32.148,447.573,1707.212,589.860,435.352,712.647,33.334,854.522,0.000,399.449,0.000,2.489
$DEVICE_MAMPS,197.886,69.797,793.078,573.716,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,176.626,0.000,0.000,0.000,0.000,0.000,0.000,3941.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6434,249
$CFSIZE,260231168,243781632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,101007,100620,4745.180,-12249.742,7,1.8,7,18.3