version: 66.03
glider: 17
mission: 4
dive: 140
start: 10 27 107 12 47 35
data:
$ID,17
$MISSION,4
$DIVE,140
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,250
$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,50
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,-1
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,125
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0281
$MASS,51832
$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,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,375
$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,-81184.523
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,62
$PITCH_MAX,3362
$C_PITCH,2526
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,153
$ROLL_MAX,3868
$ROLL_DEG,40
$C_ROLL_DIVE,2010
$C_ROLL_CLIMB,2010
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,500
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,452
$VBD_MAX,3835
$C_VBD,2501
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-0.21290922
$PRESSURE_SLOPE,9.9999997e-05
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,25
$ALTIM_TOP_PING_RANGE,10
$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
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,1
$PHONE_DEVICE,32
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043805656
$SEABIRD_T_H,0.00064742006
$SEABIRD_T_I,2.5554549e-05
$SEABIRD_T_J,2.6681391e-06
$SEABIRD_C_G,-10.331019
$SEABIRD_C_H,1.1763502
$SEABIRD_C_I,-0.0012340198
$SEABIRD_C_J,0.00017379176
$GPS1,124458,4807.458,-12223.445,16,1.1,16,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-52.6
$GPS2,124645,4807.443,-12223.427,13,1.1,13,18.0
$SPEED_LIMITS,0.173,0.239
$TGT_NAME,default
$TGT_LATLONG,47.600,-122.300
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.109,-0.213
$KALMAN_X,-43319.7,-454.9,-242.1,44165.8,-126.9
$KALMAN_Y,11962.7,86.8,37.7,-12033.9,628.2
$MHEAD_RNG_PITCHd_Wd,189.2,14438296,-20.0,-10.000
$D_GRID,100
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.39,-121.6,0.0,0.0,0,118,0.00,0.00,-96.55,0.000,2,0.000,0.000,60,2010,2378
$GC,121,-1.39,-121.6,4.4,-7.6,14,227,9.73,2.67,-88.35,0.000,4,0.028,0.058,2227,3405,2995
$GC,471,-1.39,-121.6,47.0,-11.3,52,476,0.00,2.45,0.00,0.000,6,0.000,0.025,2228,2005,2996
$GC,606,-1.39,-121.6,61.4,-10.7,64,610,0.00,2.65,0.00,0.000,4,0.000,0.044,2227,3406,2996
$GC,852,-1.39,-121.6,87.1,-10.7,86,861,0.00,2.47,0.00,0.000,6,0.000,0.024,2227,2014,2996
$STATE,987,end dive,TARGET_DEPTH_EXCEEDED
$STATE,987,begin apogee
$GC,991,-0.31,0.0,100.6,10.0,99,1050,1.02,0.00,53.60,0.574,6,0.040,0.000,2459,2014,2500
$STATE,1050,end apogee,CONTROL_FINISHED_OK
$STATE,1050,begin climb
$GC,1052,1.39,121.6,106.2,0.0,105,1114,1.67,2.58,53.50,0.563,4,0.045,0.041,2828,611,2004
$GC,1355,1.39,121.6,85.2,13.2,132,1365,0.00,2.53,0.00,0.000,6,0.000,0.025,2828,2003,2003
$GC,1492,1.39,121.6,68.8,12.2,145,1496,0.00,2.58,0.00,0.000,4,0.000,0.039,2829,613,2003
$GC,1736,1.39,121.6,37.9,11.0,167,1746,0.00,2.53,0.00,0.000,6,0.000,0.024,2828,2006,2003
$GC,1809,1.39,121.6,30.2,11.2,174,1813,0.00,2.58,0.00,0.000,4,0.000,0.038,2828,609,2003
$GC,2055,1.41,144.0,2.8,8.8,211,2070,0.00,2.58,9.80,0.517,6,0.000,0.025,2829,2011,1912
$STATE,2076,end climb,SURFACE_DEPTH_REACHED
$STATE,2076,begin surface coast
$FINISH,-0.0,0.998841
$STATE,2104,end surface coast,CONTROL_FINISHED_OK
$STATE,2104,begin surface
$SM_CCo,2124,104.07,0.581,0,0,971,375.06
$SM_GC,-0.00,0.00,0.00,104.07,0.000,0.000,0.581,61,2010,971,-11.34,0.00,375.06
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.025311
$HUMID,1968
$INTERNAL_PRESSURE,13.2134
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,9.7,0.0
$ALTIM_BOTTOM_PING,75.4,0.0
$24V_AH,23.7,0.045
$10V_AH,9.8,0.026
$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,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6460,219
$CFSIZE,252424192,248061952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,271007,132525,4808.182,-12223.687,10,1.1,11,18.0