version: 66.02
glider: 117
mission: 4
dive: 488
start: 10 11 107 19 15 43
data:
$ID,117
$MISSION,4
$DIVE,488
$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,-28785.982
$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,26
$R_STBD_OVSHOOT,30
$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
$GPS1,190237,4740.857,-12251.157,15,1.8,25,18.3
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,-0.07
$_SM_ANGLEo,-56.8
$GPS2,191437,4740.851,-12251.190,34,1.4,38,18.3
$SPEED_LIMITS,0.183,0.265
$TGT_NAME,R3
$TGT_LATLONG,4739.900,-12251.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.072,-0.255
$KALMAN_X,36373.2,169.8,0.8,-34665.7,33.1
$KALMAN_Y,30472.9,-102.4,-69.8,-28332.7,20.6
$MHEAD_RNG_PITCHd_Wd,177.4,1803,-19.1,-10.556
$D_GRID,99
$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,-146.6,0.0,0.0,0,164,0.00,0.00,-127.57,0.000,2,0.000,0.000,412,2165,3416
$GC,169,-1.65,-146.6,2.6,-5.5,21,200,13.60,2.62,-7.90,0.000,4,0.203,0.078,2538,802,3803
$GC,408,-1.65,-146.6,34.2,-12.0,48,413,0.00,2.47,0.00,0.000,6,0.000,0.036,2538,2204,3804
$GC,605,-1.65,-146.6,55.5,-10.6,63,609,0.00,2.55,0.00,0.000,4,0.000,0.060,2538,3604,3805
$GC,684,-1.65,-146.6,64.8,-11.6,68,690,0.00,2.45,0.00,0.000,6,0.000,0.035,2538,2193,3804
$GC,881,-1.65,-146.6,86.0,-10.5,84,882,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2192,3804
$STATE,965,end dive,TARGET_DEPTH_EXCEEDED
$STATE,965,begin apogee
$GC,973,-0.38,0.0,95.6,10.5,91,1093,1.38,0.00,114.82,0.670,6,0.103,0.000,2811,2192,3202
$STATE,1094,end apogee,CONTROL_FINISHED_OK
$STATE,1094,begin climb
$GC,1101,1.65,146.6,99.5,0.0,101,1222,2.08,0.00,114.05,0.643,6,0.061,0.000,3260,2192,2604
$GC,1412,1.67,164.3,78.1,9.7,126,1431,0.00,2.62,13.43,0.667,4,0.000,0.056,3260,3571,2531
$GC,1596,1.68,177.2,58.8,9.9,139,1614,0.00,2.45,9.77,0.706,6,0.000,0.037,3260,2168,2479
$GC,1805,1.69,181.2,37.9,10.4,156,1816,0.00,2.60,2.58,0.771,4,0.000,0.056,3260,3567,2463
$GC,1936,1.69,181.2,23.6,11.3,166,1940,0.00,2.45,0.00,0.000,6,0.000,0.037,3260,2166,2463
$STATE,2136,end climb,SURFACE_DEPTH_REACHED
$STATE,2136,begin surface coast
$FINISH,-0.5,1.022962
$STATE,2209,end surface coast,CONTROL_FINISHED_OK
$STATE,2209,begin surface
$SM_CCo,2242,145.32,0.581,0,0,1162,500.17
$SM_GC,0.02,0.00,0.00,145.32,0.000,0.000,0.581,410,2161,1162,-11.45,-1.10,500.17
$IRIDIUM_FIX,4726.11,-12243.73,111007,222222
$TT8_MAMPS,0.074399
$HUMID,2162
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,71.1,999.0
$24V_AH,23.6,62.428
$10V_AH,10.0,41.508
$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,30.025,20.225,254.650,145.325,0.000,61.812,35.686,360.394,0.250,0.000,3287.000,38.576,358.941,1136.250,520.193,428.878,681.166,33.336,769.139,0.000,379.119,0.000,2.488
$DEVICE_MAMPS,203.255,78.234,770.835,580.619,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,144.602,0.000,0.000,0.000,0.000,0.000,0.000,3287.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6442,204
$CFSIZE,260231168,242601984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,111007,195632,4740.593,-12251.281,12,2.0,29,18.3