version: 66.02
glider: 117
mission: 4
dive: 479
start: 10 11 107 10 50 16
data:
$ID,117
$MISSION,4
$DIVE,479
$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,30
$T_MISSION,70
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$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,-28575.988
$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,25
$R_STBD_OVSHOOT,36
$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
$GPS1,103428,4743.146,-12250.678,38,2.1,57,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.03
$_SM_ANGLEo,-58.3
$GPS2,104909,4743.168,-12250.638,11,1.4,11,18.3
$SPEED_LIMITS,0.183,0.265
$TGT_NAME,ST
$TGT_LATLONG,4742.500,-12251.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.186,-0.189
$KALMAN_X,35830.4,100.7,98.2,-33462.8,46.0
$KALMAN_Y,30833.2,-104.9,35.0,-24504.3,6.8
$MHEAD_RNG_PITCHd_Wd,206.3,1639,-19.1,-10.556
$D_GRID,166
$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,29,end surface,CONTROL_FINISHED_OK
$STATE,29,begin dive
$GC,34,-1.65,-146.6,0.0,0.0,0,138,0.00,0.00,-101.47,0.000,2,0.000,0.000,409,2217,3360
$GC,145,-1.65,-146.6,2.6,-5.9,17,176,13.57,2.55,-8.75,0.000,4,0.202,0.070,2536,3593,3803
$GC,219,-1.65,-146.6,16.1,-12.7,28,226,0.00,2.42,0.00,0.000,6,0.000,0.035,2536,2194,3805
$GC,291,-1.65,-146.6,24.5,-11.1,36,292,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2194,3804
$GC,483,-1.65,-146.6,45.9,-11.0,51,484,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2194,3804
$GC,672,-1.65,-146.6,66.6,-10.9,66,673,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2194,3804
$GC,860,-1.65,-146.6,86.8,-11.0,81,862,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2194,3804
$STATE,930,end dive,TARGET_DEPTH_EXCEEDED
$STATE,930,begin apogee
$GC,939,-0.38,0.0,95.3,11.5,87,1058,1.40,0.00,115.25,0.662,6,0.104,0.000,2812,2135,3203
$STATE,1059,end apogee,CONTROL_FINISHED_OK
$STATE,1059,begin climb
$GC,1066,1.65,146.6,99.6,0.0,97,1184,2.08,0.00,113.68,0.640,6,0.061,0.000,3261,2135,2604
$GC,1371,1.67,164.8,79.4,9.7,122,1387,0.00,0.00,13.73,0.667,6,0.000,0.000,3260,2135,2530
$GC,1572,1.67,169.0,59.7,10.4,138,1584,0.00,2.62,2.95,0.739,4,0.000,0.056,3261,3541,2514
$GC,1686,1.70,187.7,47.9,9.6,146,1705,0.00,2.40,14.50,0.661,6,0.000,0.036,3261,2162,2436
$GC,1894,1.70,187.7,26.0,10.8,163,1895,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,2162,2435
$GC,2090,1.77,250.9,7.5,7.5,188,2122,0.12,0.00,28.92,0.624,2,0.058,0.000,3291,2162,2279
$STATE,2122,end climb,SURFACE_DEPTH_REACHED
$STATE,2122,begin surface coast
$FINISH,-0.7,1.022874
$STATE,2180,end surface coast,CONTROL_FINISHED_OK
$STATE,2180,begin surface
$SM_CCo,2209,186.40,0.565,0,0,746,602.46
$SM_GC,0.02,0.00,0.00,186.40,0.000,0.000,0.565,405,2157,746,-11.48,-1.22,602.46
$IRIDIUM_FIX,4726.11,-12250.84,111007,141430
$TT8_MAMPS,0.071331
$HUMID,2148
$INTERNAL_PRESSURE,7.89093
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.6,999.0
$24V_AH,23.6,61.100
$10V_AH,10.0,40.841
$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,30.175,10.050,289.025,186.400,0.000,177.733,303.655,0.000,0.250,0.000,3375.000,11.478,355.806,1345.588,565.132,339.427,696.815,33.332,784.059,0.000,324.594,0.000,2.491
$DEVICE_MAMPS,202.488,111.982,739.388,564.512,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,143.212,0.000,0.000,0.000,0.000,0.000,0.000,3375.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6442,202
$CFSIZE,260231168,242880512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111007,113102,4742.943,-12250.813,11,1.8,11,18.3