version: 66.02
glider: 117
mission: 4
dive: 325
start: 10 5 107 19 26 35
data:
$ID,117
$MISSION,4
$DIVE,325
$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,-24482.182
$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,30
$R_STBD_OVSHOOT,41
$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
$GPS1,190935,4744.599,-12250.358,12,2.7,31,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.58
$_SM_ANGLEo,-61.9
$GPS2,192527,4744.651,-12250.391,15,1.7,15,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,4_CC
$TGT_LATLONG,4744.617,-12250.380
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.042,-0.165
$KALMAN_X,38198.1,-31.5,-38.2,-35252.0,-15.5
$KALMAN_Y,20380.0,115.7,-4.1,-11489.0,50.6
$MHEAD_RNG_PITCHd_Wd,147.5,65,-22.2,-7.917
$D_GRID,165
$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,-68.1,0.0,0.0,0,108,0.00,0.00,-78.25,0.000,2,0.000,0.000,408,2214,3035
$GC,111,-1.83,-97.8,2.1,-4.8,13,148,13.23,2.50,-16.35,0.000,4,0.201,0.068,2494,3587,3604
$GC,190,-1.83,-97.8,11.4,-14.0,25,197,0.00,2.40,0.00,0.000,6,0.000,0.035,2493,2203,3605
$GC,263,-1.83,-97.8,20.1,-10.8,36,264,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2203,3605
$GC,454,-1.83,-97.8,40.4,-10.6,51,458,0.00,2.50,0.00,0.000,4,0.000,0.056,2494,3587,3605
$GC,487,-1.83,-97.8,44.6,-11.7,53,491,0.00,2.40,0.00,0.000,6,0.000,0.035,2493,2200,3605
$GC,682,-1.83,-97.8,66.5,-11.2,68,683,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2200,3605
$GC,874,-1.83,-97.8,87.7,-11.5,83,878,0.00,2.50,0.00,0.000,4,0.000,0.056,2494,3587,3604
$STATE,936,end dive,TARGET_DEPTH_EXCEEDED
$STATE,936,begin apogee
$GC,945,-0.38,0.0,95.7,11.7,87,1027,1.62,0.00,77.65,0.670,6,0.113,0.000,2814,2145,3202
$STATE,1028,end apogee,CONTROL_FINISHED_OK
$STATE,1028,begin climb
$GC,1031,1.83,97.8,98.9,0.0,94,1113,2.25,0.00,76.30,0.650,6,0.060,0.000,3306,2144,2803
$GC,1300,1.84,103.3,83.6,7.5,116,1312,0.00,2.58,4.00,0.739,4,0.000,0.054,3307,3534,2780
$GC,1384,1.84,103.3,76.4,8.7,122,1391,0.00,2.42,0.00,0.000,6,0.000,0.035,3309,2142,2780
$GC,1580,1.84,103.3,59.7,8.6,138,1585,0.00,2.53,0.00,0.000,4,0.000,0.055,3306,3537,2780
$GC,1778,1.84,103.3,42.2,9.2,152,1784,0.00,2.42,0.00,0.000,6,0.000,0.036,3307,2145,2780
$GC,1974,1.84,103.3,26.2,8.7,168,1978,0.00,2.53,0.00,0.000,4,0.000,0.056,3306,3537,2780
$GC,2073,1.84,103.7,18.1,7.9,176,2080,0.00,2.42,0.00,0.000,6,0.000,0.035,3306,2142,2779
$GC,2146,1.85,117.1,12.9,6.9,187,2165,0.00,2.58,10.30,0.674,4,0.000,0.056,3306,3533,2723
$GC,2270,1.92,172.2,5.9,3.6,206,2302,0.00,2.40,26.55,0.633,2,0.000,0.035,3307,2147,2582
$STATE,2303,end climb,SURFACE_DEPTH_REACHED
$STATE,2303,begin surface coast
$FINISH,0.0,1.022428
$STATE,2386,end surface coast,CONTROL_FINISHED_OK
$STATE,2387,begin surface
$SM_CCo,2416,134.82,0.580,0,0,1367,450.13
$SM_GC,0.70,0.00,0.00,134.82,0.000,0.000,0.580,410,2197,1367,-11.45,-0.08,450.13
$IRIDIUM_FIX,4726.11,-12253.53,051007,232315
$TT8_MAMPS,0.072098
$HUMID,2167
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,20.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.7,999.0
$24V_AH,23.6,45.966
$10V_AH,10.1,30.134
$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,30.400,34.750,194.800,134.825,0.000,100.192,74.298,480.698,0.500,0.000,3629.000,15.532,419.644,1385.016,439.733,428.583,858.556,33.332,696.037,0.000,401.050,0.000,2.491
$DEVICE_MAMPS,200.954,86.671,739.388,579.852,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,158.370,0.000,0.000,0.000,0.000,0.000,0.000,3629.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6463,224
$CFSIZE,260231168,247418880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,051007,201007,4744.494,-12250.272,8,2.0,24,18.3