version: 66.02
glider: 117
mission: 4
dive: 482
start: 10 11 107 13 39 10
data:
$ID,117
$MISSION,4
$DIVE,482
$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,500
$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,-28634.137
$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,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
$GPS1,132137,4742.568,-12251.271,33,1.0,37,18.3
$_CALLS,3
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.04
$_SM_ANGLEo,-57.4
$GPS2,133803,4742.588,-12251.254,10,1.7,10,18.3
$SPEED_LIMITS,0.183,0.265
$TGT_NAME,R3
$TGT_LATLONG,4739.900,-12251.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.023,-0.264
$KALMAN_X,36053.6,160.0,100.2,-34516.1,9.9
$KALMAN_Y,30705.8,-94.2,10.7,-25438.0,-24.5
$MHEAD_RNG_PITCHd_Wd,166.6,4988,-19.1,-10.556
$D_GRID,147
$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,33,-1.65,-146.6,0.0,0.0,0,163,0.00,0.00,-126.78,0.000,2,0.000,0.000,410,2165,3402
$GC,167,-1.65,-146.6,2.7,-5.9,21,199,13.93,2.65,-8.15,0.000,4,0.199,0.067,2535,3583,3803
$GC,449,-1.65,-146.6,41.1,-12.0,51,455,0.00,2.50,0.00,0.000,6,0.000,0.035,2535,2193,3804
$GC,647,-1.65,-146.6,63.7,-11.0,67,652,0.00,2.60,0.00,0.000,4,0.000,0.055,2534,3591,3804
$GC,700,-1.65,-146.6,69.5,-10.6,70,707,0.00,2.45,0.00,0.000,6,0.000,0.035,2534,2199,3806
$GC,898,-1.65,-146.6,90.7,-11.3,86,899,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2200,3804
$STATE,943,end dive,TARGET_DEPTH_EXCEEDED
$STATE,943,begin apogee
$GC,952,-0.38,0.0,96.4,11.3,90,1072,1.42,0.00,115.80,0.661,6,0.103,0.000,2810,2200,3203
$STATE,1073,end apogee,CONTROL_FINISHED_OK
$STATE,1073,begin climb
$GC,1080,1.65,146.6,101.2,0.0,100,1206,2.08,2.60,114.40,0.638,4,0.061,0.056,3262,3561,2604
$GC,1220,1.72,206.0,97.0,7.7,111,1273,0.00,2.47,46.05,0.631,6,0.000,0.035,3262,2168,2361
$GC,1472,1.72,206.0,69.4,11.8,131,1473,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,2168,2361
$GC,1664,1.72,206.0,46.9,11.1,146,1668,0.00,2.58,0.00,0.000,4,0.000,0.056,3262,3561,2361
$GC,1751,1.72,206.0,36.5,11.9,152,1755,0.00,2.47,0.00,0.000,6,0.000,0.037,3262,2170,2360
$GC,1949,1.72,206.0,13.3,11.7,171,1955,0.00,2.60,0.00,0.000,4,0.000,0.056,3262,3561,2361
$GC,1983,1.72,206.2,9.8,10.5,176,1989,0.00,2.47,0.00,0.000,6,0.000,0.035,3262,2161,2360
$STATE,2046,end climb,SURFACE_DEPTH_REACHED
$STATE,2046,begin surface coast
$FINISH,-0.7,1.022871
$STATE,2126,end surface coast,CONTROL_FINISHED_OK
$STATE,2126,begin surface
$SM_CCo,2159,133.43,0.573,0,0,1163,500.17
$SM_GC,0.07,0.00,0.00,133.43,0.000,0.000,0.573,408,2157,1163,-11.46,-1.22,500.17
$IRIDIUM_FIX,4722.92,-12249.11,111007,171747
$TT8_MAMPS,0.071331
$HUMID,2170
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,20.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.2,999.0
$24V_AH,22.6,61.686
$10V_AH,10.0,41.062
$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,30.500,25.400,276.250,133.425,0.000,102.525,71.001,506.698,0.250,306.310,3172.690,10.893,354.108,1129.933,512.768,388.533,920.057,33.332,770.497,0.000,364.980,0.000,2.500
$DEVICE_MAMPS,199.420,67.496,661.154,572.949,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,140.225,0.000,0.000,0.000,0.000,0.000,0.000,3479.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6456,198
$CFSIZE,260231168,242790400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,111007,141815,4742.325,-12251.311,12,1.9,12,18.3