version: 66.02
glider: 117
mission: 4
dive: 481
start: 10 11 107 12 39 52
data:
$ID,117
$MISSION,4
$DIVE,481
$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,-28622.617
$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,2170
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,23
$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
$GPS1,122359,4742.742,-12251.023,11,2.9,30,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.01
$_SM_ANGLEo,-60.9
$GPS2,123845,4742.745,-12251.003,12,1.6,12,18.3
$SPEED_LIMITS,0.183,0.265
$TGT_NAME,ST
$TGT_LATLONG,4742.500,-12251.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.224,-0.141
$KALMAN_X,35987.4,141.8,107.3,-34125.9,23.3
$KALMAN_Y,30729.3,-98.5,25.6,-25181.3,-25.4
$MHEAD_RNG_PITCHd_Wd,219.5,767,-19.1,-10.556
$D_GRID,158
$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,-146.6,0.0,0.0,0,132,0.00,0.00,-95.40,0.000,2,0.000,0.000,408,2196,3194
$GC,139,-1.65,-146.6,2.0,-5.8,16,176,13.98,2.62,-13.75,0.000,4,0.202,0.068,2535,3592,3803
$GC,365,-1.65,-146.6,32.0,-12.3,43,369,0.00,2.47,0.00,0.000,6,0.000,0.035,2535,2193,3803
$GC,563,-1.65,-146.6,55.2,-12.0,58,564,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2193,3803
$GC,754,-1.65,-146.6,76.0,-10.6,73,755,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2193,3803
$STATE,941,end dive,TARGET_DEPTH_EXCEEDED
$STATE,941,begin apogee
$GC,949,-0.38,0.0,96.2,10.7,88,1070,1.42,0.00,116.72,0.659,6,0.103,0.000,2810,2192,3202
$STATE,1071,end apogee,CONTROL_FINISHED_OK
$STATE,1071,begin climb
$GC,1078,1.65,146.6,100.2,0.0,98,1198,2.10,0.00,114.78,0.637,6,0.061,0.000,3258,2192,2604
$GC,1383,1.66,157.2,78.3,10.0,123,1394,0.00,0.00,7.93,0.680,6,0.000,0.000,3258,2192,2561
$GC,1584,1.68,176.5,58.4,9.6,139,1601,0.00,0.00,15.10,0.652,6,0.000,0.000,3258,2192,2482
$GC,1786,1.69,182.8,38.1,10.2,155,1799,0.00,2.58,4.60,0.700,4,0.000,0.057,3258,3560,2456
$GC,1845,1.69,182.8,31.7,11.2,159,1851,0.00,2.45,0.00,0.000,6,0.000,0.036,3258,2170,2456
$GC,2045,1.72,206.6,11.4,9.4,181,2069,0.00,0.00,18.15,0.632,6,0.000,0.000,3258,2169,2359
$STATE,2129,end climb,SURFACE_DEPTH_REACHED
$STATE,2129,begin surface coast
$FINISH,-0.6,1.022987
$STATE,2200,end surface coast,CONTROL_FINISHED_OK
$STATE,2201,begin surface
$SM_CCo,2233,195.68,0.565,0,0,746,602.46
$SM_GC,-0.06,0.00,0.00,195.68,0.000,0.000,0.565,410,2165,746,-11.45,-0.99,602.46
$IRIDIUM_FIX,4726.11,-12250.84,111007,161601
$TT8_MAMPS,0.073632
$HUMID,2180
$INTERNAL_PRESSURE,7.90069
$TCM_TEMP,20.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.6,999.0
$24V_AH,22.6,61.486
$10V_AH,10.0,40.985
$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,30.600,10.125,277.275,195.675,0.000,179.809,303.668,0.000,0.500,318.071,3064.929,12.773,363.411,1360.693,567.974,351.339,697.792,33.331,788.826,0.000,335.141,0.000,2.491
$DEVICE_MAMPS,201.721,68.263,699.504,564.512,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,145.250,0.000,0.000,0.000,0.000,0.000,0.000,3383.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6432,205
$CFSIZE,260231168,242814976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,1,0,0
$GPS,111007,132137,4742.568,-12251.271,33,1.0,37,18.3