version: 66.02
glider: 117
mission: 4
dive: 422
start: 10 9 107 12 1 14
data:
$ID,117
$MISSION,4
$DIVE,422
$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,-27168.16
$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,29
$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
$GPS1,114320,4745.060,-12249.937,8,1.8,13,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.09
$_SM_ANGLEo,-57.2
$GPS2,120015,4745.011,-12249.938,15,1.9,15,18.3
$SPEED_LIMITS,0.137,0.241
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.120,0.067
$KALMAN_X,34424.2,-364.5,5.3,-30623.3,47.8
$KALMAN_Y,26245.1,-594.2,-45.3,-15934.1,79.7
$MHEAD_RNG_PITCHd_Wd,42.4,206,-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,-44.5,0.0,0.0,0,162,0.00,0.00,-127.53,0.000,2,0.000,0.000,413,2201,3321
$GC,166,-2.21,-74.8,2.0,-4.3,21,191,12.88,2.65,-4.40,0.000,4,0.206,0.080,2410,802,3511
$GC,337,-2.21,-74.8,29.6,-14.0,42,341,0.00,2.47,0.00,0.000,6,0.000,0.038,2410,2202,3513
$GC,534,-2.21,-74.8,55.5,-13.2,57,539,0.00,2.53,0.00,0.000,4,0.000,0.060,2410,3600,3513
$GC,626,-2.21,-74.8,68.7,-14.0,63,633,0.00,2.42,0.00,0.000,6,0.000,0.036,2410,2200,3513
$GC,823,-2.21,-74.8,94.3,-13.2,79,824,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2200,3513
$STATE,832,end dive,TARGET_DEPTH_EXCEEDED
$STATE,832,begin apogee
$GC,840,-0.38,0.0,95.8,12.9,80,907,2.08,0.00,59.60,0.675,6,0.123,0.000,2811,2136,3201
$STATE,908,end apogee,CONTROL_FINISHED_OK
$STATE,908,begin climb
$GC,912,2.21,74.8,98.8,0.0,86,980,2.65,2.65,57.90,0.662,4,0.058,0.064,3385,762,2896
$GC,1025,2.22,83.6,94.3,6.9,95,1037,0.00,2.47,6.30,0.714,6,0.000,0.035,3385,2155,2862
$GC,1228,2.22,83.6,78.3,8.1,111,1232,0.00,2.55,0.00,0.000,4,0.000,0.063,3385,3544,2861
$GC,1372,2.22,83.6,66.0,8.3,121,1379,0.00,2.40,0.00,0.000,6,0.000,0.036,3385,2161,2861
$GC,1569,2.23,85.3,51.1,7.7,137,1573,0.00,2.53,0.00,0.000,4,0.000,0.059,3385,3545,2860
$GC,1819,2.23,91.3,30.9,7.2,155,1829,0.00,2.42,5.72,0.719,6,0.000,0.036,3385,2147,2829
$GC,2025,2.24,96.8,15.1,7.3,176,2031,0.00,0.00,3.72,0.736,6,0.000,0.000,3385,2147,2807
$GC,2098,2.26,113.1,10.4,6.0,187,2117,0.00,2.60,12.52,0.668,4,0.000,0.058,3385,3548,2740
$STATE,2226,end climb,SURFACE_DEPTH_REACHED
$STATE,2226,begin surface coast
$FINISH,-0.6,1.022875
$STATE,2359,end surface coast,CONTROL_FINISHED_OK
$STATE,2359,begin surface
$SM_CCo,2394,239.62,0.575,0,0,746,602.46
$SM_GC,-0.13,0.00,0.00,239.62,0.000,0.000,0.575,411,2188,746,-11.45,-0.37,602.46
$IRIDIUM_FIX,4729.30,-12249.89,091007,151529
$TT8_MAMPS,0.072098
$HUMID,2143
$INTERNAL_PRESSURE,7.90069
$TCM_TEMP,20.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,71.2,999.0
$24V_AH,23.7,55.375
$10V_AH,10.0,37.084
$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,31.750,30.125,145.775,239.625,0.000,175.732,334.176,102.113,0.250,0.000,3736.000,15.268,424.028,1460.984,517.681,447.346,817.857,33.340,786.631,0.000,426.763,0.000,2.489
$DEVICE_MAMPS,205.556,109.681,735.553,575.250,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,160.577,0.000,0.000,0.000,0.000,0.000,0.000,3736.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6422,227
$CFSIZE,260231168,244490240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091007,124616,4745.102,-12249.723,9,3.4,28,18.3