version: 66.02
glider: 117
mission: 4
dive: 318
start: 10 5 107 12 18 57
data:
$ID,117
$MISSION,4
$DIVE,318
$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,-24334.932
$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,46
$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
$GPS1,115754,4744.598,-12250.233,14,5.0,33,18.3
$_CALLS,5
$_XMS_NAKs,22
$_XMS_TOUTs,1
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-61.6
$GPS2,121753,4744.551,-12250.246,13,7.0,32,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,4_CC
$TGT_LATLONG,4744.617,-12250.380
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.139,0.097
$KALMAN_X,38528.4,-152.0,20.3,-35340.3,5.7
$KALMAN_Y,20163.4,-343.9,72.4,-11073.1,2.1
$MHEAD_RNG_PITCHd_Wd,286.6,207,-22.2,-7.917
$D_GRID,174
$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,30,-1.79,-68.1,0.0,0.0,0,111,0.00,0.00,-78.40,0.000,2,0.000,0.000,409,2216,3013
$GC,114,-1.83,-97.8,2.2,-4.8,13,151,13.12,2.47,-17.17,0.000,4,0.198,0.068,2492,3582,3603
$GC,244,-1.83,-97.8,17.8,-12.4,33,250,0.00,2.42,0.00,0.000,6,0.000,0.035,2492,2190,3604
$GC,320,-1.83,-97.8,26.3,-11.1,41,321,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2190,3604
$GC,513,-1.83,-97.8,47.5,-11.3,56,517,0.00,2.60,0.00,0.000,4,0.000,0.064,2492,796,3604
$GC,546,-1.83,-97.8,51.6,-12.1,58,550,0.00,2.42,0.00,0.000,6,0.000,0.035,2492,2186,3604
$GC,748,-1.83,-97.8,74.3,-11.1,74,749,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2186,3604
$STATE,937,end dive,TARGET_DEPTH_EXCEEDED
$STATE,937,begin apogee
$GC,944,-0.38,0.0,95.5,11.5,89,1026,1.62,0.00,77.40,0.668,6,0.109,0.000,2811,2061,3202
$STATE,1027,end apogee,CONTROL_FINISHED_OK
$STATE,1027,begin climb
$GC,1030,1.83,97.8,98.6,0.0,96,1112,2.25,0.00,75.90,0.650,6,0.059,0.000,3304,2062,2803
$GC,1299,1.83,97.8,82.2,8.3,118,1300,0.00,0.00,0.00,0.000,6,0.000,0.000,3304,2062,2801
$GC,1489,1.83,97.8,66.7,8.3,133,1494,0.00,2.58,0.00,0.000,4,0.000,0.058,3304,3473,2801
$GC,1536,1.83,97.8,62.8,8.6,136,1540,0.00,2.42,0.00,0.000,6,0.000,0.036,3304,2087,2801
$GC,1731,1.83,97.8,46.5,8.2,151,1732,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,2087,2801
$GC,1925,1.83,100.8,31.6,7.7,166,1932,0.00,0.00,1.92,0.790,6,0.000,0.000,3304,2087,2790
$GC,2123,1.84,109.0,16.4,7.3,185,2135,0.00,0.00,6.25,0.700,6,0.000,0.000,3304,2087,2756
$GC,2204,1.88,140.0,11.4,5.5,197,2234,0.00,0.00,23.40,0.637,6,0.000,0.000,3304,2087,2631
$GC,2300,1.93,176.1,6.8,5.1,212,2337,0.00,2.60,27.38,0.623,4,0.000,0.056,3305,3474,2484
$STATE,2341,end climb,SURFACE_DEPTH_REACHED
$STATE,2341,begin surface coast
$FINISH,-0.1,1.022726
$STATE,2447,end surface coast,CONTROL_FINISHED_OK
$STATE,2447,begin surface
$SM_CCo,2479,207.98,0.565,0,0,746,602.46
$SM_GC,0.49,0.00,0.00,207.98,0.000,0.000,0.565,409,2184,746,-11.46,-0.45,602.46
$IRIDIUM_FIX,4729.30,-12249.89,051007,161609
$TT8_MAMPS,0.073632
$HUMID,2137
$INTERNAL_PRESSURE,7.90069
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.0,999.0
$24V_AH,23.7,45.246
$10V_AH,10.1,29.579
$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,30.375,19.950,212.250,207.975,0.000,180.992,238.695,358.430,0.500,29.050,3905.950,33.555,423.300,1583.906,519.128,407.230,977.396,33.331,760.796,0.000,371.387,0.000,4.750
$DEVICE_MAMPS,197.886,68.263,790.010,565.279,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,166.124,0.000,0.000,0.000,0.000,0.000,0.000,3935.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6455,235
$CFSIZE,260231168,247635968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,051007,130507,4744.678,-12250.589,41,1.3,46,18.3