version: 66.02
glider: 117
mission: 4
dive: 316
start: 10 5 107 10 15 12
data:
$ID,117
$MISSION,4
$DIVE,316
$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,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,-24269.395
$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,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
$GPS1,095915,4744.590,-12250.300,11,1.6,11,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.50
$_SM_ANGLEo,-56.5
$GPS2,101405,4744.542,-12250.289,12,5.5,31,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,4_CC
$TGT_LATLONG,4744.617,-12250.380
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.097,0.139
$KALMAN_X,38602.9,-166.6,9.5,-35443.0,-0.1
$KALMAN_Y,20323.6,-398.0,56.3,-11179.2,-23.5
$MHEAD_RNG_PITCHd_Wd,306.7,180,-22.2,-7.917
$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,27,-1.79,-68.1,0.0,0.0,0,140,0.00,0.00,-108.22,0.000,2,0.000,0.000,413,2202,2941
$GC,143,-1.83,-97.8,2.0,-4.5,18,186,13.12,2.58,-20.92,0.000,4,0.198,0.070,2495,3593,3603
$GC,233,-1.83,-97.8,11.5,-14.3,32,239,0.00,2.42,0.00,0.000,6,0.000,0.035,2495,2197,3604
$GC,305,-1.83,-97.8,19.8,-10.9,43,310,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2197,3604
$GC,374,-1.83,-97.8,27.4,-11.0,49,375,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2197,3605
$GC,566,-1.83,-97.8,49.1,-11.4,64,567,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2197,3605
$GC,757,-1.83,-97.8,69.8,-10.7,79,758,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2197,3605
$GC,944,-1.83,-97.8,91.1,-11.3,94,949,0.00,2.60,0.00,0.000,4,0.000,0.067,2495,801,3605
$STATE,975,end dive,TARGET_DEPTH_EXCEEDED
$STATE,975,begin apogee
$GC,983,-0.38,0.0,95.0,11.5,96,1063,1.60,0.00,75.50,0.663,6,0.109,0.000,2814,2087,3202
$STATE,1064,end apogee,CONTROL_FINISHED_OK
$STATE,1064,begin climb
$GC,1067,1.83,97.8,98.1,0.0,103,1148,2.22,0.00,76.00,0.647,6,0.060,0.000,3302,2088,2802
$GC,1336,1.83,97.8,82.9,8.0,125,1337,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,2088,2806
$GC,1527,1.83,97.8,67.7,8.1,140,1528,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,2088,2806
$GC,1716,1.83,97.8,52.5,7.9,155,1717,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,2088,2806
$GC,1905,1.84,104.0,38.1,7.4,170,1918,0.00,2.53,4.88,0.713,4,0.000,0.056,3302,3473,2779
$GC,1950,1.84,104.0,34.2,8.3,173,1957,0.00,2.42,0.00,0.000,6,0.000,0.036,3303,2079,2779
$GC,2147,1.84,104.7,18.9,7.9,190,2153,0.00,2.53,0.00,0.000,4,0.000,0.054,3302,3475,2780
$GC,2229,1.84,109.0,12.8,7.6,202,2241,0.00,2.42,3.83,0.728,6,0.000,0.035,3302,2076,2757
$GC,2310,1.92,171.3,9.0,3.1,214,2364,0.00,2.67,47.50,0.620,4,0.000,0.066,3302,683,2503
$STATE,2402,end climb,SURFACE_DEPTH_REACHED
$STATE,2402,begin surface coast
$FINISH,-0.1,1.022730
$STATE,2491,end surface coast,CONTROL_FINISHED_OK
$STATE,2491,begin surface
$SM_CCo,2521,124.40,0.573,0,0,1366,450.13
$SM_GC,0.73,0.00,0.00,124.40,0.000,0.000,0.573,409,2199,1366,-11.45,0.00,450.13
$IRIDIUM_FIX,4726.11,-12250.84,051007,141455
$TT8_MAMPS,0.073632
$HUMID,2165
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,71.2,999.0
$24V_AH,23.5,45.025
$10V_AH,10.1,29.419
$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,30.200,25.150,207.700,124.400,0.000,103.722,86.500,392.230,0.250,0.000,3757.000,32.751,421.533,1471.196,465.647,422.348,781.957,33.334,714.739,0.000,377.972,0.000,2.489
$DEVICE_MAMPS,197.886,69.797,727.883,572.949,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,170.962,0.000,0.000,0.000,0.000,0.000,0.000,3757.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6437,242
$CFSIZE,260231168,247701504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,110022,4744.698,-12250.511,8,2.1,27,18.3