version: 66.02
glider: 117
mission: 4
dive: 425
start: 10 9 107 14 59 5
data:
$ID,117
$MISSION,4
$DIVE,425
$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,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,-27258.777
$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
$GPS1,144303,4745.070,-12249.765,14,1.4,14,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.03
$_SM_ANGLEo,-61.0
$GPS2,145807,4745.031,-12249.733,42,1.6,47,18.3
$SPEED_LIMITS,0.137,0.241
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.105,0.088
$KALMAN_X,34231.8,-167.7,33.9,-30401.9,24.7
$KALMAN_Y,25743.9,-340.7,80.2,-15771.4,-8.0
$MHEAD_RNG_PITCHd_Wd,291.4,143,-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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,31,-2.18,-44.5,0.0,0.0,0,144,0.00,0.00,-105.38,0.000,6,0.000,0.000,413,2216,3385
$GC,148,-2.21,-71.6,2.5,-4.7,18,172,12.88,2.55,-2.25,0.000,4,0.206,0.066,2411,3591,3497
$GC,310,-2.21,-71.6,30.4,-13.5,37,317,0.00,2.40,0.00,0.000,6,0.000,0.035,2411,2203,3498
$GC,507,-2.21,-71.6,56.1,-12.9,53,508,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2203,3498
$GC,699,-2.21,-71.6,80.7,-12.9,68,703,0.00,2.50,0.00,0.000,4,0.000,0.055,2412,3588,3498
$GC,764,-2.21,-71.6,90.1,-13.5,72,771,0.00,2.40,0.00,0.000,6,0.000,0.035,2412,2201,3498
$STATE,806,end dive,TARGET_DEPTH_EXCEEDED
$STATE,806,begin apogee
$GC,814,-0.38,0.0,95.9,13.3,76,881,2.08,0.00,57.00,0.676,6,0.121,0.000,2813,2139,3202
$STATE,882,end apogee,CONTROL_FINISHED_OK
$STATE,882,begin climb
$GC,886,2.21,71.6,98.9,0.0,82,954,2.62,2.67,55.62,0.662,4,0.058,0.055,3384,3550,2909
$GC,989,2.23,88.1,95.5,6.0,90,1008,0.00,2.42,12.50,0.683,6,0.000,0.034,3384,2159,2842
$GC,1197,2.23,88.1,78.7,8.3,107,1198,0.00,0.00,0.00,0.000,6,0.000,0.000,3384,2158,2841
$GC,1390,2.23,88.1,62.9,8.3,122,1394,0.00,2.53,0.00,0.000,4,0.000,0.058,3384,3544,2841
$GC,1525,2.23,88.1,51.3,8.4,131,1531,0.00,2.42,0.00,0.000,6,0.000,0.035,3384,2147,2841
$GC,1721,2.23,90.3,35.5,7.7,147,1726,0.00,2.53,0.00,0.000,4,0.000,0.058,3384,3538,2841
$GC,1768,2.23,90.3,31.6,8.5,150,1772,0.00,2.40,0.00,0.000,6,0.000,0.035,3384,2152,2841
$GC,1966,2.24,93.5,16.5,7.5,168,1972,0.00,0.00,3.45,0.742,6,0.000,0.000,3384,2151,2821
$GC,2039,2.26,116.0,12.0,5.2,179,2062,0.00,0.00,17.25,0.653,6,0.000,0.000,3384,2152,2729
$GC,2132,2.29,139.9,6.9,5.1,193,2157,0.00,2.67,18.27,0.641,4,0.000,0.065,3384,753,2630
$STATE,2161,end climb,SURFACE_DEPTH_REACHED
$STATE,2161,begin surface coast
$FINISH,2.2,1.022298
$STATE,2202,end surface coast,CONTROL_FINISHED_OK
$STATE,2202,begin surface
$SM_CCo,2235,224.68,0.568,0,0,746,602.46
$SM_GC,-0.09,0.00,0.00,224.68,0.000,0.000,0.568,409,2198,746,-11.46,-0.03,602.46
$IRIDIUM_FIX,4726.11,-12248.15,091007,181850
$TT8_MAMPS,0.071331
$HUMID,2142
$INTERNAL_PRESSURE,7.90069
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.9,999.0
$24V_AH,23.6,55.651
$10V_AH,10.0,37.311
$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,31.925,30.125,164.100,224.675,0.000,178.613,300.670,0.000,0.500,0.000,3410.000,47.382,381.828,1392.579,514.655,414.105,677.390,33.339,757.158,0.000,363.924,0.000,2.488
$DEVICE_MAMPS,205.556,108.914,742.456,568.347,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,144.443,0.000,0.000,0.000,0.000,0.000,0.000,3410.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6443,204
$CFSIZE,260231168,244424704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091007,154107,4745.144,-12249.938,14,1.7,24,18.3