version: 66.02
glider: 117
mission: 4
dive: 424
start: 10 9 107 13 59 37
data:
$ID,117
$MISSION,4
$DIVE,424
$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,90
$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,-27210.768
$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,31
$R_STBD_OVSHOOT,40
$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
$GPS1,134641,4745.018,-12249.968,15,2.6,34,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.04
$_SM_ANGLEo,-58.2
$GPS2,135837,4744.992,-12249.965,14,1.7,30,18.3
$SPEED_LIMITS,0.137,0.241
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.111,0.081
$KALMAN_X,34273.4,-234.3,35.8,-30666.9,29.8
$KALMAN_Y,25948.0,-430.7,55.1,-15934.6,58.8
$MHEAD_RNG_PITCHd_Wd,35.7,255,-27.6,-7.917
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-2.18,-44.5,0.0,0.0,0,160,0.00,0.00,-127.57,0.000,2,0.000,0.000,411,2215,3330
$GC,164,-2.22,-79.7,2.1,-3.7,21,189,12.93,2.67,-4.62,0.000,4,0.206,0.077,2409,806,3530
$GC,327,-2.22,-79.7,28.9,-13.9,41,333,0.00,2.45,0.00,0.000,6,0.000,0.037,2409,2196,3531
$GC,524,-2.22,-79.7,54.7,-13.1,57,528,0.00,2.55,0.00,0.000,4,0.000,0.059,2409,3602,3531
$GC,615,-2.22,-79.7,67.8,-13.9,63,622,0.00,2.42,0.00,0.000,6,0.000,0.035,2409,2200,3531
$GC,812,-2.22,-79.7,93.5,-13.0,79,816,0.00,2.53,0.00,0.000,4,0.000,0.056,2409,3597,3531
$STATE,821,end dive,TARGET_DEPTH_EXCEEDED
$STATE,822,begin apogee
$GC,832,-0.38,0.0,95.4,13.3,79,899,2.10,0.00,62.83,0.673,6,0.123,0.000,2812,2142,3202
$STATE,900,end apogee,CONTROL_FINISHED_OK
$STATE,900,begin climb
$GC,904,2.22,79.7,98.6,0.0,85,975,2.62,0.00,61.78,0.660,6,0.058,0.000,3384,2142,2876
$GC,1166,2.22,82.9,83.1,7.5,106,1172,0.00,2.62,2.05,0.792,4,0.000,0.056,3384,3547,2863
$GC,1332,2.22,82.9,68.6,8.5,118,1336,0.00,2.42,0.00,0.000,6,0.000,0.035,3384,2148,2863
$GC,1530,2.23,88.0,53.5,7.3,133,1542,0.00,2.58,3.55,0.751,4,0.000,0.057,3384,3543,2843
$GC,1601,2.23,88.0,47.8,8.2,138,1608,0.00,2.42,0.00,0.000,6,0.000,0.035,3384,2148,2843
$GC,1798,2.23,90.0,32.5,7.7,154,1802,0.00,2.55,0.00,0.000,4,0.000,0.057,3384,3551,2843
$GC,1998,2.23,92.1,17.0,7.7,171,2010,0.00,2.42,3.12,0.752,6,0.000,0.035,3384,2149,2826
$GC,2080,2.25,105.9,11.4,6.3,183,2099,0.00,2.60,10.43,0.676,4,0.000,0.057,3384,3547,2769
$GC,2168,2.29,137.7,8.1,4.1,196,2199,0.00,2.42,23.90,0.640,6,0.000,0.035,3384,2148,2640
$STATE,2239,end climb,SURFACE_DEPTH_REACHED
$STATE,2239,begin surface coast
$FINISH,-0.5,1.022452
$STATE,2359,end surface coast,CONTROL_FINISHED_OK
$STATE,2359,begin surface
$SM_CCo,2390,164.00,0.578,0,0,1165,500.17
$SM_GC,0.05,0.00,0.00,164.00,0.000,0.000,0.578,413,2216,1165,-11.44,0.45,500.17
$IRIDIUM_FIX,4726.11,-12248.15,091007,161659
$TT8_MAMPS,0.071331
$HUMID,2158
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.3,999.0
$24V_AH,23.7,55.559
$10V_AH,10.0,37.237
$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,31.750,35.300,167.650,164.000,0.000,60.576,40.725,372.270,0.250,0.000,3464.000,30.548,415.505,1258.823,474.497,462.708,678.238,33.341,746.122,0.000,418.953,0.000,2.491
$DEVICE_MAMPS,206.323,76.700,792.311,577.551,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,159.177,0.000,0.000,0.000,0.000,0.000,0.000,3464.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6451,225
$CFSIZE,260231168,244457472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,091007,144303,4745.070,-12249.765,14,1.4,14,18.3