version: 66.02
glider: 117
mission: 4
dive: 423
start: 10 9 107 13 1 44
data:
$ID,117
$MISSION,4
$DIVE,423
$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,-27179.59
$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,32
$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
$GPS1,124616,4745.102,-12249.723,9,3.4,28,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.08
$_SM_ANGLEo,-57.4
$GPS2,130045,4745.074,-12249.703,10,1.8,10,18.3
$SPEED_LIMITS,0.137,0.241
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.129,-0.046
$KALMAN_X,34352.8,-300.6,27.4,-30345.3,41.7
$KALMAN_Y,26102.9,-521.8,8.6,-15799.4,84.1
$MHEAD_RNG_PITCHd_Wd,232.1,141,-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,-127.85,0.000,2,0.000,0.000,410,2188,3296
$GC,166,-2.21,-70.8,2.1,-4.8,21,191,12.93,2.58,-4.60,0.000,4,0.207,0.069,2411,3597,3494
$GC,429,-2.21,-70.8,41.8,-13.9,49,434,0.00,2.42,0.00,0.000,6,0.000,0.035,2411,2201,3495
$GC,625,-2.21,-70.8,67.1,-13.0,64,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2200,3496
$GC,817,-2.21,-70.8,91.9,-13.1,79,822,0.00,2.53,0.00,0.000,4,0.000,0.056,2411,3599,3496
$STATE,840,end dive,TARGET_DEPTH_EXCEEDED
$STATE,840,begin apogee
$GC,850,-0.38,0.0,95.6,12.6,80,911,2.10,0.00,55.80,0.678,6,0.125,0.000,2814,2146,3202
$STATE,912,end apogee,CONTROL_FINISHED_OK
$STATE,912,begin climb
$GC,915,2.21,70.8,98.7,0.0,85,977,2.62,0.00,55.22,0.660,6,0.058,0.000,3383,2146,2913
$GC,1161,2.22,80.9,86.3,6.7,105,1172,0.00,0.00,7.38,0.716,6,0.000,0.000,3382,2146,2872
$GC,1362,2.23,86.6,71.6,7.2,121,1375,0.00,2.60,4.05,0.747,4,0.000,0.057,3382,3538,2849
$GC,1486,2.23,86.6,61.4,8.4,130,1493,0.00,2.42,0.00,0.000,6,0.000,0.036,3383,2148,2849
$GC,1683,2.23,90.3,45.8,7.5,146,1695,0.00,2.67,2.65,0.784,4,0.000,0.065,3382,753,2833
$GC,1727,2.23,90.3,41.9,8.3,149,1734,0.00,2.45,0.00,0.000,6,0.000,0.035,3383,2149,2833
$GC,1924,2.23,90.3,26.2,8.0,165,1925,0.00,0.00,0.00,0.000,6,0.000,0.000,3382,2149,2833
$GC,2118,2.25,103.1,11.6,6.4,188,2136,0.00,2.60,9.90,0.681,4,0.000,0.059,3382,3541,2781
$GC,2177,2.29,140.2,9.4,3.5,197,2213,0.00,2.42,27.98,0.635,6,0.000,0.035,3382,2147,2630
$STATE,2270,end climb,SURFACE_DEPTH_REACHED
$STATE,2270,begin surface coast
$FINISH,-0.6,1.022538
$STATE,2368,end surface coast,CONTROL_FINISHED_OK
$STATE,2368,begin surface
$SM_CCo,2399,225.23,0.570,0,0,746,602.46
$SM_GC,-0.02,0.00,0.00,225.23,0.000,0.000,0.570,411,2214,746,-11.45,0.40,602.46
$IRIDIUM_FIX,4729.30,-12252.58,091007,161609
$TT8_MAMPS,0.071331
$HUMID,2130
$INTERNAL_PRESSURE,7.90069
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.4,999.0
$24V_AH,23.7,55.468
$10V_AH,10.0,37.161
$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,31.725,25.325,162.975,225.225,0.000,179.786,300.673,0.000,0.500,0.000,3636.000,10.802,413.172,1491.262,530.765,402.220,673.787,33.340,781.016,0.000,388.733,0.000,2.490
$DEVICE_MAMPS,207.090,69.030,783.874,569.881,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,159.938,0.000,0.000,0.000,0.000,0.000,0.000,3636.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6463,226
$CFSIZE,260231168,244453376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091007,134641,4745.018,-12249.968,15,2.6,34,18.3