version: 66.02
glider: 117
mission: 4
dive: 283
start: 10 3 107 20 19 51
data:
$ID,117
$MISSION,4
$DIVE,283
$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,45
$T_MISSION,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$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,-23380.391
$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,2080
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,41
$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
$GPS1,201015,4743.820,-12250.685,13,1.6,13,18.3
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-52.8
$GPS2,201844,4743.878,-12250.590,11,2.0,16,18.3
$SPEED_LIMITS,0.122,0.193
$TGT_NAME,5_EN
$TGT_LATLONG,4744.091,-12250.552
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.051,0.144
$KALMAN_X,38964.2,-165.1,-70.3,-36101.1,185.3
$KALMAN_Y,22056.1,-112.6,26.1,-14397.7,5.9
$MHEAD_RNG_PITCHd_Wd,322.2,397,-21.7,-7.037
$D_GRID,171
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.74,-58.7,0.0,0.0,0,114,0.00,0.00,-84.65,0.000,2,0.000,0.000,410,2215,2874
$GC,117,-1.79,-97.8,2.0,-3.1,14,166,13.25,2.67,-26.45,0.000,4,0.199,0.073,2501,805,3603
$GC,410,-1.79,-97.8,32.4,-11.2,50,417,0.00,2.47,0.00,0.000,6,0.000,0.037,2501,2193,3605
$GC,606,-1.79,-97.8,53.6,-10.7,66,610,0.00,2.60,0.00,0.000,4,0.000,0.063,2501,795,3605
$GC,665,-1.79,-97.8,60.1,-11.0,70,670,0.00,2.47,0.00,0.000,6,0.000,0.037,2501,2204,3605
$GC,861,-1.79,-97.8,81.4,-11.0,85,862,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2206,3605
$STATE,984,end dive,TARGET_DEPTH_EXCEEDED
$STATE,984,begin apogee
$GC,991,-0.38,0.0,95.8,11.6,95,1073,1.62,0.00,77.55,0.675,6,0.109,0.000,2815,2066,3202
$STATE,1074,end apogee,CONTROL_FINISHED_OK
$STATE,1074,begin climb
$GC,1077,1.79,97.8,98.8,0.0,102,1162,2.17,0.00,76.62,0.653,6,0.061,0.000,3293,2066,2802
$GC,1351,1.79,97.8,81.9,8.1,124,1352,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,2066,2800
$GC,1542,1.79,97.8,66.9,8.0,139,1546,0.00,2.55,0.00,0.000,4,0.000,0.057,3293,3477,2800
$GC,1659,1.79,97.8,56.3,8.4,147,1667,0.00,2.45,0.00,0.000,6,0.000,0.036,3293,2087,2800
$GC,1856,1.79,97.8,39.8,8.3,163,1860,0.00,2.62,0.00,0.000,4,0.000,0.067,3293,680,2800
$GC,1928,1.79,97.8,33.6,8.6,168,1932,0.00,2.47,0.00,0.000,6,0.000,0.035,3294,2082,2800
$GC,2125,1.79,97.8,17.2,8.6,185,2131,0.00,2.53,0.00,0.000,4,0.000,0.058,3294,3478,2799
$GC,2151,1.79,97.8,14.7,9.5,189,2157,0.00,2.42,0.00,0.000,6,0.000,0.035,3293,2078,2799
$GC,2223,1.83,127.6,10.3,4.6,200,2254,0.00,2.70,22.27,0.650,4,0.000,0.064,3293,679,2680
$STATE,2384,end climb,SURFACE_DEPTH_REACHED
$STATE,2384,begin surface coast
$FINISH,-0.1,1.022812
$STATE,2504,end surface coast,CONTROL_FINISHED_OK
$STATE,2504,begin surface
$SM_CCo,2535,171.82,0.581,0,0,1162,500.17
$SM_GC,0.72,0.00,0.00,171.82,0.000,0.000,0.581,411,2201,1162,-11.44,0.03,500.17
$IRIDIUM_FIX,4726.11,-12232.20,031007,232302
$TT8_MAMPS,0.073632
$HUMID,2160
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.2,999.0
$24V_AH,23.7,41.502
$10V_AH,10.1,26.408
$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,30.175,30.875,176.450,171.825,0.000,62.407,34.766,212.954,0.250,16.600,3281.400,16.900,444.561,1418.999,465.752,454.112,459.358,33.342,732.740,0.000,425.250,0.000,2.487
$DEVICE_MAMPS,199.420,72.865,674.960,580.619,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,171.812,0.000,0.000,0.000,0.000,0.000,0.000,3298.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,19.641,51.000
$DATA_FILE_SIZE,6448,243
$CFSIZE,260231168,248918016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031007,210545,4744.103,-12250.599,11,1.5,11,18.3