version: 66.02
glider: 117
mission: 4
dive: 315
start: 10 5 107 9 14 9
data:
$ID,117
$MISSION,4
$DIVE,315
$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,-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,25
$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,-24236.016
$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,27
$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
$GPS1,085347,4744.761,-12250.528,11,2.2,30,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-61.6
$GPS2,091305,4744.709,-12250.545,15,2.7,34,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,4_CC
$TGT_LATLONG,4744.617,-12250.380
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.135,-0.103
$KALMAN_X,38633.7,-170.9,-11.0,-35766.2,-3.9
$KALMAN_Y,20442.5,-408.5,6.7,-10924.7,-15.7
$MHEAD_RNG_PITCHd_Wd,109.1,267,-22.2,-7.917
$D_GRID,142
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-1.79,-68.1,0.0,0.0,0,109,0.00,0.00,-78.20,0.000,2,0.000,0.000,408,2213,3016
$GC,113,-1.83,-97.8,2.1,-4.8,13,151,13.12,2.65,-17.42,0.000,4,0.198,0.073,2495,798,3602
$GC,401,-1.83,-97.8,36.3,-11.6,47,406,0.00,2.45,0.00,0.000,6,0.000,0.036,2494,2194,3604
$GC,597,-1.83,-97.8,58.4,-11.4,62,598,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2194,3604
$GC,788,-1.83,-97.8,79.3,-10.8,77,792,0.00,2.55,0.00,0.000,4,0.000,0.059,2494,3604,3604
$GC,853,-1.83,-97.8,87.0,-11.2,81,860,0.00,2.42,0.00,0.000,6,0.000,0.035,2495,2195,3604
$STATE,933,end dive,TARGET_DEPTH_EXCEEDED
$STATE,933,begin apogee
$GC,940,-0.38,0.0,95.7,10.7,88,1022,1.65,0.00,77.22,0.670,6,0.108,0.000,2814,2069,3202
$STATE,1023,end apogee,CONTROL_FINISHED_OK
$STATE,1023,begin climb
$GC,1026,1.83,97.8,98.5,0.0,95,1107,2.22,0.00,76.12,0.650,6,0.058,0.000,3302,2069,2803
$GC,1294,1.83,97.8,81.5,7.9,117,1298,0.00,2.55,0.00,0.000,4,0.000,0.054,3302,3475,2801
$GC,1421,1.83,97.8,70.9,8.8,126,1426,0.00,2.42,0.00,0.000,6,0.000,0.035,3302,2084,2801
$GC,1617,1.83,100.1,55.4,7.7,141,1621,0.00,2.50,0.00,0.000,4,0.000,0.054,3303,3475,2801
$GC,1761,1.83,100.1,43.3,8.6,151,1768,0.00,2.45,0.00,0.000,6,0.000,0.036,3303,2086,2801
$GC,1958,1.83,100.1,27.1,7.9,167,1962,0.00,2.53,0.00,0.000,4,0.000,0.055,3303,3476,2801
$GC,2083,1.83,100.1,16.6,8.7,179,2089,0.00,2.42,0.00,0.000,6,0.000,0.035,3302,2077,2801
$GC,2156,1.88,136.9,11.7,5.1,190,2193,0.00,2.67,29.42,0.637,4,0.000,0.066,3302,680,2643
$STATE,2296,end climb,SURFACE_DEPTH_REACHED
$STATE,2296,begin surface coast
$FINISH,-0.1,1.022696
$STATE,2396,end surface coast,CONTROL_FINISHED_OK
$STATE,2396,begin surface
$SM_CCo,2428,230.35,0.571,0,0,746,602.46
$SM_GC,0.49,0.00,0.00,230.35,0.000,0.000,0.571,413,2201,746,-11.44,0.03,602.46
$IRIDIUM_FIX,4729.30,-12252.58,051007,131349
$TT8_MAMPS,0.072098
$HUMID,2136
$INTERNAL_PRESSURE,7.91046
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,71.1,999.0
$24V_AH,23.6,44.928
$10V_AH,10.1,29.339
$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,30.175,30.500,182.775,230.350,0.000,177.455,196.000,339.433,0.500,0.000,3830.000,35.371,422.029,1521.562,517.520,454.363,925.589,33.337,771.695,0.000,414.773,0.000,2.489
$DEVICE_MAMPS,197.886,72.865,669.591,570.648,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,160.442,0.000,0.000,0.000,0.000,0.000,0.000,3830.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6444,227
$CFSIZE,260231168,247717888
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,095915,4744.590,-12250.300,11,1.6,11,18.3