version: 66.02
glider: 117
mission: 4
dive: 322
start: 10 5 107 16 29 9
data:
$ID,117
$MISSION,4
$DIVE,322
$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,-24433.48
$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,26
$R_STBD_OVSHOOT,42
$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
$GPS1,161427,4744.677,-12250.229,12,2.0,12,18.3
$_CALLS,3
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-61.6
$GPS2,162803,4744.695,-12250.244,15,2.0,15,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,4_CC
$TGT_LATLONG,4744.617,-12250.380
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.102,-0.136
$KALMAN_X,38358.2,-89.0,-33.3,-35176.9,10.3
$KALMAN_Y,20309.6,-82.0,-0.2,-11142.1,95.3
$MHEAD_RNG_PITCHd_Wd,198.7,223,-22.2,-7.917
$D_GRID,173
$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,-1.79,-68.1,0.0,0.0,0,109,0.00,0.00,-78.32,0.000,2,0.000,0.000,408,2211,3037
$GC,113,-1.83,-97.8,2.2,-5.1,13,150,13.20,2.65,-15.93,0.000,4,0.199,0.075,2494,796,3603
$GC,189,-1.83,-97.8,11.8,-14.9,25,196,0.00,2.45,0.00,0.000,6,0.000,0.036,2494,2190,3604
$GC,262,-1.83,-97.8,20.6,-10.9,36,263,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2190,3604
$GC,453,-1.83,-97.8,41.5,-10.8,51,457,0.00,2.55,0.00,0.000,4,0.000,0.058,2494,3602,3605
$GC,478,-1.83,-97.8,44.7,-11.6,52,485,0.00,2.45,0.00,0.000,6,0.000,0.035,2494,2203,3605
$GC,675,-1.83,-97.8,66.9,-11.3,68,676,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2203,3605
$GC,866,-1.83,-97.8,88.2,-11.3,83,867,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2202,3605
$STATE,924,end dive,TARGET_DEPTH_EXCEEDED
$STATE,924,begin apogee
$GC,932,-0.38,0.0,95.4,11.6,88,1014,1.62,0.00,77.30,0.671,6,0.108,0.000,2811,2072,3202
$STATE,1015,end apogee,CONTROL_FINISHED_OK
$STATE,1015,begin climb
$GC,1018,1.83,97.8,98.3,0.0,95,1099,2.25,0.00,75.95,0.656,6,0.061,0.000,3301,2072,2802
$GC,1286,1.83,97.8,82.6,8.1,117,1290,0.00,2.55,0.00,0.000,4,0.000,0.054,3300,3476,2801
$GC,1419,1.83,97.8,71.8,7.9,126,1425,0.00,2.42,0.00,0.000,6,0.000,0.035,3300,2082,2801
$GC,1615,1.84,104.8,56.6,7.4,142,1626,0.00,0.00,5.22,0.728,6,0.000,0.000,3300,2082,2774
$GC,1816,1.84,104.8,40.3,8.2,158,1820,0.00,2.53,0.00,0.000,4,0.000,0.055,3300,3475,2773
$GC,1920,1.84,104.8,31.0,8.8,165,1927,0.00,2.42,0.00,0.000,6,0.000,0.036,3300,2081,2774
$GC,2119,1.84,109.1,15.5,7.6,185,2131,0.00,2.60,2.80,0.755,4,0.000,0.055,3300,3475,2758
$GC,2383,1.96,201.9,7.6,0.7,225,2465,0.12,2.42,71.00,0.622,6,0.067,0.035,3328,2073,2378
$STATE,2468,end climb,SURFACE_DEPTH_REACHED
$STATE,2469,begin surface coast
$FINISH,-0.1,1.022860
$STATE,2569,end surface coast,CONTROL_FINISHED_OK
$STATE,2570,begin surface
$SM_CCo,2597,110.53,0.578,0,0,1366,450.13
$SM_GC,0.60,0.00,0.00,110.53,0.000,0.000,0.578,409,2212,1366,-11.46,0.34,450.13
$IRIDIUM_FIX,4726.11,-12252.58,051007,202010
$TT8_MAMPS,0.070564
$HUMID,2157
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,71.2,999.0
$24V_AH,23.7,45.672
$10V_AH,10.0,29.907
$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,30.475,25.425,232.275,110.525,0.000,101.483,65.076,361.971,0.500,0.000,3659.000,15.475,447.674,1489.349,445.144,445.572,723.468,33.335,708.702,0.000,417.765,0.000,2.489
$DEVICE_MAMPS,198.653,75.166,755.495,578.318,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,179.461,0.000,0.000,0.000,0.000,0.000,0.000,3659.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6471,254
$CFSIZE,260231168,247513088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,051007,171537,4744.528,-12250.389,38,1.3,43,18.3