version: 66.02
glider: 117
mission: 4
dive: 326
start: 10 5 107 20 38 33
data:
$ID,117
$MISSION,4
$DIVE,326
$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,-24517.734
$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,38
$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
$GPS1,201007,4744.494,-12250.272,8,2.0,24,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-62.5
$GPS2,203729,4744.568,-12250.293,15,2.2,34,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,4_CC
$TGT_LATLONG,4744.617,-12250.380
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.170,0.009
$KALMAN_X,38195.7,-16.3,-35.5,-35147.0,-6.0
$KALMAN_Y,20537.3,170.1,-3.3,-11857.3,89.4
$MHEAD_RNG_PITCHd_Wd,254.7,142,-22.2,-7.917
$D_GRID,171
$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,-68.1,0.0,0.0,0,105,0.00,0.00,-72.40,0.000,2,0.000,0.000,410,2198,2888
$GC,108,-1.83,-97.8,2.0,-4.5,12,152,13.10,2.62,-23.90,0.000,4,0.196,0.077,2495,805,3601
$GC,187,-1.83,-97.8,8.7,-13.1,24,193,0.00,2.45,0.00,0.000,6,0.000,0.037,2495,2194,3604
$GC,260,-1.83,-97.8,17.7,-10.3,35,265,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2194,3603
$GC,336,-1.83,-97.8,26.1,-11.3,43,337,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2194,3603
$GC,527,-1.83,-97.8,46.8,-11.0,58,528,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2194,3604
$GC,718,-1.83,-97.8,67.9,-11.0,73,723,0.00,2.60,0.00,0.000,4,0.000,0.067,2495,805,3604
$GC,751,-1.83,-97.8,72.2,-11.8,75,755,0.00,2.45,0.00,0.000,6,0.000,0.038,2495,2201,3604
$GC,947,-1.83,-97.8,94.3,-11.2,90,948,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2201,3604
$STATE,956,end dive,TARGET_DEPTH_EXCEEDED
$STATE,957,begin apogee
$GC,964,-0.38,0.0,95.8,11.5,91,1045,1.60,0.00,77.10,0.670,6,0.107,0.000,2809,2127,3203
$STATE,1046,end apogee,CONTROL_FINISHED_OK
$STATE,1046,begin climb
$GC,1049,1.83,97.8,98.6,0.0,98,1131,2.25,0.00,76.35,0.651,6,0.060,0.000,3305,2127,2803
$GC,1318,1.83,98.1,83.1,7.9,120,1319,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,2127,2801
$GC,1509,1.83,98.1,67.9,8.2,135,1513,0.00,2.60,0.00,0.000,4,0.000,0.059,3303,3553,2801
$GC,1613,1.83,98.1,58.9,8.2,142,1620,0.00,2.45,0.00,0.000,6,0.000,0.036,3303,2162,2801
$GC,1810,1.84,103.9,44.0,7.5,158,1820,0.00,0.00,4.45,0.732,6,0.000,0.000,3303,2162,2778
$GC,2010,1.84,103.9,27.7,8.4,174,2011,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,2162,2778
$GC,2204,1.84,107.1,12.5,7.7,196,2211,0.00,2.70,2.12,0.775,4,0.000,0.067,3303,753,2765
$GC,2271,1.92,169.6,9.2,3.0,206,2327,0.00,2.45,47.95,0.622,6,0.000,0.035,3303,2158,2510
$STATE,2370,end climb,SURFACE_DEPTH_REACHED
$STATE,2370,begin surface coast
$FINISH,-0.1,1.022422
$STATE,2463,end surface coast,CONTROL_FINISHED_OK
$STATE,2463,begin surface
$SM_CCo,2490,125.53,0.578,0,0,1367,450.13
$SM_GC,0.68,0.00,0.00,125.53,0.000,0.000,0.578,408,2159,1367,-11.46,-1.16,450.13
$IRIDIUM_FIX,4729.30,-12248.15,061007,000036
$TT8_MAMPS,0.071331
$HUMID,2156
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,20.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.6,999.0
$24V_AH,23.7,46.100
$10V_AH,10.1,30.231
$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,30.225,20.400,207.975,125.525,0.000,181.008,141.923,887.698,0.500,0.000,4395.000,34.926,426.072,1589.436,434.170,423.120,1409.380,33.330,677.149,0.000,377.865,0.000,2.490
$DEVICE_MAMPS,196.352,76.700,774.670,577.551,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,166.760,0.000,0.000,0.000,0.000,0.000,0.000,4395.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6449,236
$CFSIZE,260231168,247382016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,212325,4744.575,-12250.657,34,1.5,39,18.3