version: 66.02
glider: 117
mission: 4
dive: 311
start: 10 5 107 4 55 14
data:
$ID,117
$MISSION,4
$DIVE,311
$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,90
$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,15
$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,450
$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,-24116.559
$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,25
$R_STBD_OVSHOOT,44
$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
$GPS1,044108,4744.844,-12250.208,26,1.3,27,18.3
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,1
$_SM_DEPTHo,0.58
$_SM_ANGLEo,-56.1
$GPS2,045352,4744.780,-12250.257,10,2.2,29,18.3
$SPEED_LIMITS,0.263,0.273
$TGT_NAME,4_CC
$TGT_LATLONG,4744.617,-12250.380
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.073,-0.252
$KALMAN_X,38795.6,-99.9,-68.4,-35583.4,-78.3
$KALMAN_Y,21248.4,-331.4,-268.0,-11402.3,-41.5
$MHEAD_RNG_PITCHd_Wd,177.9,339,-10.9,-7.037
$D_GRID,172
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-0.96,-97.8,0.0,0.0,0,148,0.00,0.00,-114.32,0.000,2,0.000,0.000,401,2211,3075
$GC,151,-0.96,-97.8,2.2,-4.4,19,188,14.38,2.53,-14.25,0.000,4,0.197,0.070,2686,3578,3603
$GC,440,-0.96,-97.8,22.4,-5.6,60,444,0.00,2.40,0.00,0.000,6,0.000,0.034,2687,2187,3604
$GC,636,-0.96,-97.8,32.7,-5.1,75,640,0.00,2.53,0.00,0.000,4,0.000,0.056,2688,3583,3605
$GC,676,-0.96,-97.8,35.0,-5.7,77,682,0.00,2.38,0.00,0.000,6,0.000,0.034,2686,2201,3605
$GC,872,-0.96,-97.8,45.5,-5.4,93,876,0.00,2.60,0.00,0.000,4,0.000,0.064,2687,802,3605
$GC,905,-0.96,-97.8,47.3,-5.3,95,909,0.00,2.42,0.00,0.000,6,0.000,0.035,2687,2190,3605
$GC,1101,-0.96,-97.8,56.6,-4.7,110,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2190,3606
$GC,1294,-0.96,-97.8,66.3,-5.4,125,1298,0.00,2.58,0.00,0.000,4,0.000,0.062,2687,804,3604
$GC,1334,-0.96,-97.8,68.8,-5.8,127,1340,0.00,2.42,0.00,0.000,6,0.000,0.035,2687,2199,3605
$GC,1530,-0.96,-97.8,80.1,-5.9,143,1531,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2199,3605
$GC,1723,-0.96,-97.8,90.2,-5.0,158,1724,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2198,3605
$STATE,1816,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1816,begin apogee
$GC,1823,-0.38,0.0,95.3,5.1,166,1904,0.62,0.00,73.57,0.671,6,0.079,0.000,2815,2074,3202
$STATE,1904,end apogee,CONTROL_FINISHED_OK
$STATE,1905,begin climb
$GC,1908,0.96,97.8,97.4,0.0,173,1992,1.40,2.62,75.95,0.651,4,0.060,0.055,3112,3469,2803
$GC,2027,1.09,206.7,94.7,4.4,183,2118,0.12,2.42,84.18,0.639,6,0.050,0.035,3149,2084,2359
$GC,2309,1.09,206.7,75.8,7.3,205,2310,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2084,2361
$GC,2499,1.09,206.7,62.2,7.4,220,2503,0.00,2.53,0.00,0.000,4,0.000,0.055,3149,3473,2361
$GC,2550,1.09,206.7,57.9,8.3,223,2557,0.00,2.45,0.00,0.000,6,0.000,0.036,3149,2087,2361
$GC,2747,1.09,206.7,43.1,7.6,239,2751,0.00,2.50,0.00,0.000,4,0.000,0.054,3149,3472,2360
$GC,2785,1.09,206.7,39.9,8.0,241,2792,0.00,2.45,0.00,0.000,6,0.000,0.036,3149,2081,2361
$GC,2981,1.09,206.7,25.1,7.7,257,2982,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2081,2361
$GC,3176,1.17,272.7,11.7,5.5,281,3231,0.00,0.00,50.10,0.620,6,0.000,0.000,3149,2081,2090
$STATE,3288,end climb,SURFACE_DEPTH_REACHED
$STATE,3288,begin surface coast
$FINISH,-0.1,1.022639
$STATE,3377,end surface coast,CONTROL_FINISHED_OK
$STATE,3377,begin surface
$SM_CCo,3404,80.07,0.582,0,0,1367,450.13
$SM_GC,0.66,0.00,0.00,80.07,0.000,0.000,0.582,408,2209,1367,-11.46,0.25,450.13
$IRIDIUM_FIX,4726.11,-12248.15,051007,080848
$TT8_MAMPS,0.072865
$HUMID,2200
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.7,999.0
$24V_AH,23.7,44.531
$10V_AH,10.1,29.026
$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,29.050,35.175,283.800,80.075,0.000,101.665,94.755,280.546,0.250,0.000,4493.000,30.810,570.165,2002.529,467.710,575.166,673.598,33.340,812.578,0.000,529.326,0.000,2.493
$DEVICE_MAMPS,197.119,69.797,671.125,582.153,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,220.779,0.000,0.000,0.000,0.000,0.000,0.000,4493.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,9565,312
$CFSIZE,260231168,247836672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,051007,055426,4744.405,-12250.386,13,1.7,31,18.3