version: 66.02
glider: 117
mission: 4
dive: 324
start: 10 5 107 18 25 16
data:
$ID,117
$MISSION,4
$DIVE,324
$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,-24466.02
$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,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,31
$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
$GPS1,181159,4744.750,-12250.396,8,2.6,27,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-62.2
$GPS2,182408,4744.772,-12250.411,11,1.6,16,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,4_CC
$TGT_LATLONG,4744.617,-12250.380
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.016,-0.169
$KALMAN_X,38247.4,-56.2,-49.4,-35288.3,3.1
$KALMAN_Y,20289.5,50.9,-8.3,-11101.6,47.0
$MHEAD_RNG_PITCHd_Wd,156.2,290,-22.2,-7.917
$D_GRID,154
$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,-78.22,0.000,2,0.000,0.000,412,2201,3034
$GC,111,-1.83,-97.8,2.2,-4.9,13,148,13.25,2.58,-15.93,0.000,4,0.200,0.071,2494,3605,3603
$GC,228,-1.83,-97.8,17.2,-13.7,31,234,0.00,2.45,0.00,0.000,6,0.000,0.036,2494,2196,3604
$GC,305,-1.83,-97.8,25.8,-10.9,39,306,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2196,3605
$GC,498,-1.83,-97.8,46.3,-11.1,54,499,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2196,3605
$GC,685,-1.83,-97.8,67.8,-11.5,69,687,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2196,3605
$GC,874,-1.83,-97.8,88.7,-11.2,84,879,0.00,2.55,0.00,0.000,4,0.000,0.057,2494,3604,3605
$GC,913,-1.83,-97.8,93.5,-11.7,86,920,0.00,2.42,0.00,0.000,6,0.000,0.035,2494,2197,3605
$STATE,930,end dive,TARGET_DEPTH_EXCEEDED
$STATE,930,begin apogee
$GC,937,-0.38,0.0,95.6,11.5,88,1020,1.62,0.00,77.70,0.669,6,0.110,0.000,2811,2136,3201
$STATE,1020,end apogee,CONTROL_FINISHED_OK
$STATE,1021,begin climb
$GC,1024,1.83,97.8,98.4,0.0,95,1105,2.25,0.00,76.12,0.652,6,0.061,0.000,3301,2136,2803
$GC,1292,1.83,98.8,82.4,7.8,117,1296,0.00,2.55,0.00,0.000,4,0.000,0.055,3301,3546,2802
$GC,1410,1.83,98.8,72.7,8.7,125,1417,0.00,2.40,0.00,0.000,6,0.000,0.035,3301,2161,2802
$GC,1606,1.83,98.8,57.4,8.1,141,1610,0.00,2.50,0.00,0.000,4,0.000,0.056,3301,3547,2801
$GC,1727,1.83,101.0,48.0,7.7,149,1734,0.00,2.42,2.10,0.785,6,0.000,0.035,3301,2147,2790
$GC,1923,1.84,105.2,32.7,7.6,165,1935,0.00,2.60,3.12,0.753,4,0.000,0.056,3301,3551,2773
$GC,2030,1.84,105.2,23.6,9.0,173,2034,0.00,2.45,0.00,0.000,6,0.000,0.035,3301,2143,2773
$GC,2233,1.89,145.0,9.5,4.8,200,2270,0.00,2.60,30.42,0.635,4,0.000,0.055,3301,3545,2609
$GC,2306,1.93,182.9,6.4,5.0,211,2331,0.00,2.45,20.55,0.635,2,0.000,0.035,3300,2143,2500
$STATE,2332,end climb,SURFACE_DEPTH_REACHED
$STATE,2332,begin surface coast
$FINISH,-0.2,1.022569
$STATE,2436,end surface coast,CONTROL_FINISHED_OK
$STATE,2436,begin surface
$SM_CCo,2466,124.25,0.576,0,0,1366,450.13
$SM_GC,0.61,0.00,0.00,124.25,0.000,0.000,0.576,407,2214,1366,-11.47,0.40,450.13
$IRIDIUM_FIX,4729.30,-12252.58,051007,212121
$TT8_MAMPS,0.072098
$HUMID,2159
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.6,999.0
$24V_AH,23.7,45.865
$10V_AH,10.1,30.055
$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,30.375,30.100,210.025,124.250,0.000,61.483,35.334,425.639,0.250,0.000,3475.000,16.379,427.141,1354.728,437.668,427.409,701.130,33.333,692.770,0.000,399.248,0.000,4.502
$DEVICE_MAMPS,200.187,107.380,784.641,576.017,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,163.438,0.000,0.000,0.000,0.000,0.000,0.000,3475.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6433,231
$CFSIZE,260231168,247451648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,051007,190935,4744.599,-12250.358,12,2.7,31,18.3