version: 66.02
glider: 117
mission: 4
dive: 317
start: 10 5 107 11 13 35
data:
$ID,117
$MISSION,4
$DIVE,317
$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,-24300.75
$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,34
$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
$GPS1,110022,4744.698,-12250.511,8,2.1,27,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-61.7
$GPS2,111229,4744.684,-12250.514,10,2.2,29,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,4_CC
$TGT_LATLONG,4744.617,-12250.380
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.143,-0.091
$KALMAN_X,38554.0,-164.7,17.2,-35683.2,-5.8
$KALMAN_Y,20227.7,-379.9,71.0,-10852.1,-15.6
$MHEAD_RNG_PITCHd_Wd,104.2,208,-22.2,-7.917
$D_GRID,148
$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,-68.1,0.0,0.0,0,107,0.00,0.00,-78.32,0.000,2,0.000,0.000,410,2200,3017
$GC,111,-1.83,-97.8,2.2,-4.8,13,148,13.15,2.62,-17.00,0.000,4,0.198,0.074,2492,800,3603
$GC,387,-1.83,-97.8,34.9,-11.3,46,391,0.00,2.47,0.00,0.000,6,0.000,0.036,2492,2200,3604
$GC,582,-1.83,-97.8,56.6,-11.3,61,586,0.00,2.53,0.00,0.000,4,0.000,0.058,2493,3597,3605
$GC,647,-1.83,-97.8,64.2,-11.7,65,654,0.00,2.45,0.00,0.000,6,0.000,0.035,2493,2203,3605
$GC,843,-1.83,-97.8,86.2,-11.2,81,847,0.00,2.55,0.00,0.000,4,0.000,0.057,2493,3597,3604
$GC,881,-1.83,-97.8,90.8,-11.6,83,888,0.00,2.45,0.00,0.000,6,0.000,0.035,2493,2204,3605
$STATE,924,end dive,TARGET_DEPTH_EXCEEDED
$STATE,924,begin apogee
$GC,931,-0.38,0.0,95.8,11.5,87,1013,1.62,0.00,76.95,0.666,6,0.110,0.000,2809,2063,3202
$STATE,1014,end apogee,CONTROL_FINISHED_OK
$STATE,1014,begin climb
$GC,1016,1.83,97.8,99.0,0.0,94,1102,2.28,2.62,75.97,0.650,4,0.062,0.053,3305,3481,2802
$GC,1226,1.83,97.8,87.4,8.7,110,1233,0.00,2.45,0.00,0.000,6,0.000,0.035,3304,2078,2801
$GC,1423,1.83,99.9,71.8,7.7,126,1427,0.00,2.55,0.00,0.000,4,0.000,0.055,3305,3479,2801
$GC,1565,1.83,99.9,60.0,8.5,136,1569,0.00,2.47,0.00,0.000,6,0.000,0.036,3304,2073,2801
$GC,1761,1.83,101.9,44.3,7.8,151,1773,0.00,2.60,2.62,0.765,4,0.000,0.054,3305,3478,2785
$GC,2026,1.83,101.9,22.0,8.3,171,2030,0.00,2.45,0.00,0.000,6,0.000,0.036,3305,2073,2786
$GC,2230,1.92,173.2,9.4,2.4,199,2290,0.00,0.00,54.70,0.623,6,0.000,0.000,3305,2073,2494
$STATE,2347,end climb,SURFACE_DEPTH_REACHED
$STATE,2347,begin surface coast
$FINISH,-0.1,1.022769
$STATE,2436,end surface coast,CONTROL_FINISHED_OK
$STATE,2436,begin surface
$SM_CCo,2464,123.90,0.578,0,0,1367,450.13
$SM_GC,0.60,0.00,0.00,123.90,0.000,0.000,0.578,408,2215,1367,-11.46,0.42,450.13
$IRIDIUM_FIX,4726.11,-12250.84,051007,151501
$TT8_MAMPS,0.073632
$HUMID,2153
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,20.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.6,999.0
$24V_AH,23.7,45.120
$10V_AH,10.1,29.493
$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,30.300,30.625,210.250,123.900,0.000,100.146,149.483,197.869,0.500,29.070,3418.930,30.726,430.196,1373.175,433.552,491.639,612.580,33.335,707.944,0.000,446.011,0.000,2.489
$DEVICE_MAMPS,197.886,73.632,765.466,578.318,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,163.302,0.000,0.000,0.000,0.000,0.000,0.000,3448.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6468,231
$CFSIZE,260231168,247672832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,051007,115754,4744.598,-12250.233,14,5.0,33,18.3