version: 66.02
glider: 117
mission: 4
dive: 420
start: 10 9 107 10 1 8
data:
$ID,117
$MISSION,4
$DIVE,420
$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,-27114.623
$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,28
$R_STBD_OVSHOOT,39
$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
$GPS1,094944,4745.064,-12249.867,13,1.5,31,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.02
$_SM_ANGLEo,-57.8
$GPS2,095941,4745.037,-12249.873,14,2.2,33,18.3
$SPEED_LIMITS,0.137,0.241
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.041,0.131
$KALMAN_X,34627.2,-477.2,-84.5,-30542.4,53.4
$KALMAN_Y,26529.8,-704.3,-189.8,-15914.6,34.0
$MHEAD_RNG_PITCHd_Wd,359.2,115,-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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,32,-2.18,-44.5,0.0,0.0,0,163,0.00,0.00,-128.10,0.000,2,0.000,0.000,411,2210,3360
$GC,167,-2.22,-77.8,2.2,-4.0,21,192,12.90,2.70,-3.65,0.000,4,0.206,0.078,2408,808,3522
$GC,225,-2.22,-77.8,13.7,-15.5,30,232,0.00,2.45,0.00,0.000,6,0.000,0.038,2408,2192,3525
$GC,297,-2.22,-77.8,23.8,-14.0,39,301,0.00,2.60,0.00,0.000,4,0.000,0.065,2408,802,3524
$GC,330,-2.22,-77.8,28.6,-15.2,41,335,0.00,2.47,0.00,0.000,6,0.000,0.038,2408,2201,3524
$GC,527,-2.22,-77.8,54.4,-12.9,56,531,0.00,2.55,0.00,0.000,4,0.000,0.061,2408,3599,3524
$GC,632,-2.22,-77.8,69.1,-14.0,63,638,0.00,2.42,0.00,0.000,6,0.000,0.037,2408,2203,3524
$GC,828,-2.22,-77.8,94.2,-12.9,79,833,0.00,2.53,0.00,0.000,4,0.000,0.059,2408,3597,3524
$STATE,837,end dive,TARGET_DEPTH_EXCEEDED
$STATE,837,begin apogee
$GC,848,-0.38,0.0,95.9,12.6,79,915,2.10,0.00,61.35,0.671,6,0.123,0.000,2811,2146,3202
$STATE,915,end apogee,CONTROL_FINISHED_OK
$STATE,915,begin climb
$GC,919,2.22,77.8,99.0,0.0,85,987,2.65,0.00,60.15,0.658,6,0.058,0.000,3387,2146,2884
$GC,1177,2.22,78.7,83.7,7.8,106,1181,0.00,2.58,0.00,0.000,4,0.000,0.060,3386,3550,2883
$GC,1435,2.22,78.7,61.8,8.1,125,1439,0.00,2.45,0.00,0.000,6,0.000,0.037,3387,2145,2882
$GC,1631,2.23,87.6,47.7,6.9,140,1644,0.00,2.60,7.20,0.709,4,0.000,0.059,3387,3548,2843
$GC,1830,2.23,87.6,31.3,8.4,155,1834,0.00,2.42,0.00,0.000,6,0.000,0.037,3387,2151,2843
$GC,2028,2.24,95.9,16.1,6.9,174,2040,0.00,0.00,5.82,0.706,6,0.000,0.000,3387,2151,2811
$GC,2107,2.25,101.7,10.5,7.2,186,2113,0.00,0.00,4.47,0.715,6,0.000,0.000,3387,2151,2787
$GC,2180,2.28,133.6,7.1,4.1,197,2211,0.00,0.00,24.10,0.637,6,0.000,0.000,3387,2151,2656
$STATE,2228,end climb,SURFACE_DEPTH_REACHED
$STATE,2228,begin surface coast
$FINISH,-0.6,1.022633
$STATE,2348,end surface coast,CONTROL_FINISHED_OK
$STATE,2348,begin surface
$SM_CCo,2381,164.52,0.576,0,0,1164,500.17
$SM_GC,-0.00,0.00,0.00,164.52,0.000,0.000,0.576,413,2221,1164,-11.44,0.59,500.17
$IRIDIUM_FIX,4726.11,-12248.15,091007,131308
$TT8_MAMPS,0.071331
$HUMID,2161
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,71.6,999.0
$24V_AH,23.7,55.182
$10V_AH,10.0,36.927
$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,31.800,30.400,163.100,164.525,0.000,61.304,31.100,254.639,0.500,0.000,3353.000,37.184,422.971,1266.681,460.374,469.139,569.927,33.321,732.673,0.000,420.006,0.000,2.489
$DEVICE_MAMPS,206.323,78.234,714.844,576.017,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,157.739,0.000,0.000,0.000,0.000,0.000,0.000,3353.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6449,223
$CFSIZE,260231168,244576256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091007,104441,4745.186,-12249.806,10,2.2,29,18.3